To go lower cost, with a mini-bot, you could do 2-modules per bot coupled with some passive swivel wheels or maybe omni-wheels. The YAGSL library works with Neos and generally any modules. However, to really prepare your students, I’d start by working with example code and writing a bit of your own SwerveDrivetrain and SwerveModule classes so that you build their understanding first. Then, you can switch to a maintained library and understand what it’s doing. Understanding how to configure a swerve can be confusing at first, modules will go the wrong direction and turn the wrong way because something isn’t configured right, but working through that is key.