[thefro526]

Your turning issues have nothing to do with the fact that you're using a swerve drive.

Long base, four wheel drive robots will have issues turning with 4 high traction wheels even if they aren't a swerve drive. A quick fix to this problem would be to swap the front or rear wheels out to omni-directional wheels so you have less lateral resistance to turning.

Another solution would be to add a second steering motor and steer the front and rear wheels independently in turning.

You could also reposition your swerve modules so that the contact points of the wheels create a perfect square, or close to it...