Measure the stack and reach of your endurance bike that you like the fit of.

Measure the same of your current cyclocross bike.

Compare the difference and see if that can be matched with spacers and a different stem angle/length.
If it looks possible, then use an online stem calculator to work out the correct stem length and angle, to match the stack and reach.

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The above assumes both bikes' handlebars have the same reach and drop measurements.