Turn Command for Individual Motors that form a Drive train

Hello, we’re using vexcode iq blocks to make our PID. We configured the motors of our drive train separately because it seemed like the best way to drive straight. However, we didn’t know what command to use to get the robot to turn. For driving forward, we use the drive to specific degrees command on each motor. For the turns, we tried Spin Forward and Spin backward, then wait until gyro sensor = desired value, then stop both motors, but this resulted in overshooting every single time and it took a good 10 seconds to get the robot to get in the right position. Does anybody that configured the motors of their drivetrain separately for PID know what command to use for turns? Thanks