[Lil' Lavery]

I think the most important part of having a successful drive is putting enough power into it. As you look at most of these posts, you will not that a vast majority have had 4 motors in their drive-train, typically the 4 small CIMs. This provides enough torque to turn well, whether you a brute forcing your turns, using omnis, or lowering your wheels. Don't overkill your drive though. Be wise about motor selection and motor quantity, and you will do well.