I need to control 4 dc motors from 24V, 4 stepmotors and 5 servo's.
You need extra output pins, so use a shift register to give you 8 outputs, this will give you enough to control your 4 DC motors. You will need a transistor to drive the 24V or a H-bridge if you want to control the direction as well.
For the servos I would use the servo library and direct output from the pins.
For the 4 stepping motors you need another 8 outputs probably fed into a Puloiu driver http://www.pololu.com/catalog/product/1201
In place of a shift register you could use an MCP23S17 port expander, this will give you 16 outputs an being SPI is quite fast.