Does magicaVoxel support matrixes?
If you need animating (say, your model is unique from any other in the game and you re-use any animations and skeletons) you need matrixes
If it doesn’t then you’ll have to purchase Qubicle(or, again, whatever it’s called in steam) and use it, since matrixes are absolutely essential for animation
Stuff for blender is free, so don’t worry on that part(though animating itself may be a little challenging)