Motors for an omnidirectional RC toycar (with mecanum wheels)

First of all, apologies if this is an Arduino question. IMHO, I felt that the questions is more about motors and their comparison.

I’m trying to build an RC toycar using mecanum wheels.

The vehicle will have a standard 4 wheel configuration:

So far, I’m planning to use an arduino mega for the communication and control
of the wheels.

In order to obtain the omnidirectional movement and rotation, I need 4 different motors (one for each wheel), to control the speed for each wheel.

I’ve sorted out communication with the remote control, and also figured out the relevant equations that determine the wheel speed based on the $v_x$, $v_y$ and $omega$ (rotation).
Now the only thing that remains is selecting the type of motors to use.

The main option I’m considering right now is using a stepper motor driver like A4988 with a NEMA 11 or 14.

The main benefits I see with this design its the following:

• I can control the speed for each motor.
• only two pins are required on the Arduino mega
• software control is well documented.

Possible disadvantages are:

• not extremely efficient
• possibly not the maximum speed, nor torque

However, I’d like to ask what other motor designs/configurations should I consider (e.g. BLDC’s, DC, servo with speed control). I would be very interested in a possible configuration and to its the relative benefits/drawbacks with respect to my baseline option with regard to the following parameters:

• pin requirements for control
• requirements for external electronic devices (eg. ESC)
• max speed
• max torque
• efficiency
• control documentation for arduino
• is it possible to control speed