[Al Skierkiewicz]

Clayton,
This question is better answered when aimed at a particular use.
If you are asking about a First robot, then different terminations are often used for different applications.
We use Power Pole for most motors to make them easy to replace. We have the correct crimper and then follow with a bit of solder for insurance. We use spade terminals on Victors, uninsulated, crimped and soldered then heatshrink for insulation. The same for female pushons used on Spikes. For PWM styles, we have the military crimper for those connections. We use D connectors for many of the other connections all soldered.