Raspberry Pi four wheel differential drive robot

Looking for some advice on the feasibility of a Raspberry Pi controlled four wheel robot with differential drive, using an stm32 board and two odrives. The robot would need to be rc and autonomous controlled. I’m looking at a relatively small robot less than A4 size. What motors are recommended for this size and do I need some gearing or is it possible to drive them without. I already have the code for sbus rc to run on the stm32, just making sure that it’s possible to control two odrives successfully . I also would like to use the AS5047P or similar encoder. If anyone has any examples of similar I’d be interested to see them.