Most "standard" drive configurations worked just fine on regolith, or at least as fine as you could work on regolith. Teams that incorporated non-powered casters with encoders to implement traction control often gained an advantage, as did teams that fitted fans to the back of their machines.
Swerve was actually easier in 2009 than any other year. Since the machines broke traction with the ground so easily, a designer did not have to worry about side loads on the swerve module. This allowed them to be built lighter, and helped some teams on the fence about going to swerve make the jump. Wildstang won the world championship that year with a crab drive, in part due to the super fast human load auto that their crab drive enabled.
Anything more than two CIMs on the drive was unnecissary. Again, you would break traction with the ground before you got anywhere near stall.
I thought the 775s didn't come around until 2011...
