[kamocat]

One thing that makes driving a LOT easier (especially at slow speeds) is using speed-control with PID as opposed to open-loop control.
This does lead to two issues:

1. You must tune the PID
2. If the joysticks don't re-center perfectly when you let go, there is slight movement instead of the "stopped" you might want. (usually less than 1% full speed) This is because the "deadband" to deal with this is actually on the motor controller, not the joystick, and PID is a method of ensuring that the motors do what you tell them to.