@9227 What type of wheels do you have?
If you use all omnis and center of mass of the robot is roughly coincides with the geometric center between the wheels, then you should have very little slip, given that you do not accelerate too fast. I’ve seen teams with such robots having very precise turning with just the encoders.
On the other hand, if you have a traction wheel pair and center of mass of the robot is far from the geometric center between those traction wheels, than you will get a lot of wheel slip even if you don’t accelerate very fast. The mass of the robot will resist turning to the point that traction wheels could start slipping sideways.
As @edjubuh said unpowered tracking wheels could help you to get super precise position tracking, but that would be the final step after you sort out center of gravity thing.