For drive motors, I don't think you have many options aside from CIMs. Though last year we did use mini-CIMs instead, because drivetrain power wasn't at all needed for recycle rush.
For rotation, we've used RS-550s or Andymark 9015s. They were hooked up to versaplanetary gearboxes, but I don't know the gearing.
In 2014/2015, we used
4 inch HiGrip Wheels. But after a full season of aerial assist, the
HiGrip wheels were totally demolished.