Recently, I have been working on connecting the ESP Wifi Module and the Blynk software. I have been looking into both emulation and ESP Now. Additionally, the Blynk software for controlling the motors does have capabilities with Bluetooth, so I will also be testing the Blynk software with my HC-05 module in conjunction with the arduino nano. This would be useful in the case that Wifi is unreliable or too many other teams are on 2.4 or 5 GHz bandwidths.
Below is example Blynk integration software for bluetooth specifically.
Once they arrive, I will also be testing the NodeMCU ESP board because it seems to work more naturally with the Blynk software. Additionally, we have decided to swap to the TB6612 board as our main motor driver because it seems more reliable in our use cases.