[Aren_Hill]

For drivetrain usage, i'd suggest staying as far away as possible from worm gears, the main reason being efficiency. A swerve done with bevel gears has enough stages to make it less efficient than other drivetrains, but putting worm gears into that will make it even worse.

Worm gears are quiet though which can make for a stealthy robot lol.

As far as turning goes, we used a fischer price motor and geared the modules at 60rpm free speed, so there is no question it has the power to move the wheels.
I've also seen teams use dual globe motors or window motors to steer.