While in general I would argue strongly in favor of a 6 motor drive, if you don’t have pneumatics, then an 11W goal clamp leaves you with only 11W for an intake and wall stakes. Maybe possible with 1028A’s direct mech but that would be very challenging for most teams to build.
So, in this case 4 motor drive is okay. If you want to use blue motors, you will have to gear them down (direct 600 rpm is only viable on 2.75" wheels and with 66W or more on the drive). I recommend trying 360RPM (60:36 on blue cartridges) with 3.25" wheels or 257RPM (84:36 on blue cartridges) with 4" wheels. Anything faster than this won’t have enough torque.
There’s the Catalogue of Drive Gearings as pointed out above, but that mainly focuses on 6 motor drives, so you won’t be able to successfully use many of the gear ratios there.
If you don’t want to gear your drive, you can run 200RPM on 4" wheels (direct green cartridges), but that is extremely slow and I wouldn’t recommend it.