Like many others have said, consider looking into exponential drive. I’m not the best person to explain it.
Look at https://www.vexforum.com/t/guide-to-exponential-drive-function/, as well as Slowing Down V5 Motors for a good explanation.
If even this isn’t enough, you can try doing something like making the drive speed like 50% of the original velocity when, for example, holding a button to make things like aligning easier.