I would take a look at these two threads. From my understanding Pigeon and navX are both good but have different advantages and disadvantages. My team uses the navX2 Micro because it’s easy and accurate.
https://www.chiefdelphi.com/t/pigeon-2-0-vs-navx2-mxp/417278
https://www.chiefdelphi.com/t/navx-2-0-vs-pigeon-2-0/401469/