[FTC]: 2 vs 4 Tetrix Motor Encoders?

[Just_In_Time]

Hello. My team is using motor encoders for the first time this year, and we're unsure about how many we will need. We currently have a 4-motor drive train with each motor separately powering each of the 4 wheels of our drive train. We were wondering if we need to use 4 motor encoders for it to work properly, or is there a way to only use 2 by putting one motor encoder on each side of the drive train? Any help is greatly appreciated. Thanks.

JIT