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Some comments (slightly pedantic, but I feel important):
I would like to better understand at what point ros_control becomes necessary in a robot build
never. Using ros_control is a choice, and robots can (and have) been built without it and function perfectly fine.
[..] RVIZ only has the drive wheel encoder odometry to inform its position [..] Is RVIZ really giving me an accurate representation of movement [..]
Please understand: RViz does not do anything else but visualise data streams. It does not calculate odometry, or the pose of your robot. It's not even giving you "an accurate representation of movement". It just renders a 3D model at a certain 6D pose. But all of that information has to come from outside, as RViz is just a consumer of data.
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