If you're just after normals and don't need a proper height map, use the workbench renderer with a normal matcap and an orthographic camera. lots of floaters. float all the things #blender#b3d
The nice thing about workbench is how easy it is to just render out a few matcaps (with screen space cavity pass). You can mix em up in your image editor and use it as a base for painting semi-oldschool textures.