[wireties]

5 years back (Lunacy I think) we built what you are talking about. We made it drive in multiple modes. In the main mode one joystick moved it like a swerve (translating) and a second joystick rotated the robot.In a second mode, it drove like a car. In a third mode it drove like a tank.

We tried window motors also but beware. You must gear them up (3:1) so they do not overheat and cutoff and/or NOT use hi-traction treaded wheels. Ours worked well (window motors to turn at 1:1) on the Lunacy low-friction field but the next year it was not strong enough to turn on carpet. I would recommend you consider another motor for turning, a bag motor and a planetary transmission perhaps?

A potentiometer is good enough for direction control but you should use encoders for the wheel speed. Or you can chain all the swerve modules together which gets kinda heavy and messy.

Do this in the off-season, build a proof-of-concept. Don't try it for the first time during the build season.