Drives are really not as useful as people think.

Limit > Final >>> Wisdom > Normal Sora >>>> Master >>>>>>>>>>> Valor > Anti

The determining factor is Guard. When you Drive, you have to give up the most useful ability in the game. The question is, what do you get for it?

Limit - "I'M INVINCIBLE!" moves + Highest damage output in the game + Guard
Final - Sheer physical attack and magic attack power that it's ridiculous.
Wisdom - Awesome magic attack power, which annihilates all.
Master - All aerial attacks is fail and it is very easy to deflect. The only reason it is above Valor is because it has Magic.
Valor - No Magic, easily deflect-able attacks. This form becomes obsolete as soon as you get Guard as Roxas.
Anti - High damage and speed, but you die so easily.

Except for Limit and Final, and maybe Wisdom, Summons are overall far better than Drives. Stitch is tied with Limit Form, if not better.