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It really is a hard thing to choose between since you do need a combination of both for this game. I had to use a combination of both especially when i fought saix but if i had to choose i would choose drive.
drive forms can do more damage if you use them wisely but the best choice is to use your co-op move then use your drive because the co-op move uses all your mp but when you drive if your magic bar has turned from blue to purple it will fill right back to max
LOL, on more than one occasion i've KILLED heartless like that. A few times in the tournaments, as soon as the round started I would drive into final and they would die already. XD I win in like, 1 second.
But yes, drive. Drives do more damage and last longer, and their really awesome. And you have more control over Sora. He can still jump and stuff. In co-op sometimes Sora's doing some other animation and, like I said before, co-op moves' time limits are very short unlike drives.