Left/Right Joystick is the most common approach. In the past we've also tried a single joystick with a twist handle. The twist handle would control rotation while forwards and backwards motion would control forward and reverse drive speed. We came up with an algorithm to mix the two so you could drive and steer. It was quite effective. It was used on a meccanum drive base but should work well for yours also. The downside to the traditional two joystick tank drive is that directions reverse when the robot is driving towards you and that takes practice to master.
Good luck
