After a lot of research, I found this actuator reference from Nabtesco:
https://precision.nabtesco.com/en/products/detail/AF-N

So it's a geared servo motor, they even mention the Tube bender use case in the doc so I guess it should work.
So I asked a quotation for the following 2 models:
- AF042N126 (A6_1kW) with a rated torque of 412N and speed of 15rpm
- AF080N129 (A6_2kW) with a rated torque of 784N and speed of 15rpm
The problem is I don't know yet the price but I already know that I will have to wait 1 or 2 months as the local distributor doesn't have it in stock.

So I would be very interested to have a plan B, like maybe with a gear and servo separated.
Like a Mitsubishi one for the Servomotor as it seems easier to find where I am, but then come the gearbox where I don't know much about it...
I guess there is the formula to calculated the rated torque of a servo + gear reducer?
Or if anyone know some suitable references, I would be very interested.

Thank you very much