Embedded encoder module

Does anyone recommend using embedded encoders modules on the base motors?

I’ve had a bad experience with IMEs, so I would suggest the quad encoders, but I guess they might not be too terrible (I haven’t used IMEs in two years so I don’t know).
There’s some stuff about IMEs in this thread:

In my opinion, the big red encoders are so much less of a hassle.

EDIT: adding stuff
I mean, with your base you should be able to use a quad encoder pretty easily. Aligning them is a bit of work because some of them are ever so slightly off, but they’re much better than IMEs.
As a side note, you could get creative with your base encoders if you want accuracy: