I keep discovering alternative methods - motor driver chips, h bridges, h bridge relays, relays, solid state relays.. What would you recommend is the best way of interfacing the motors and arduino?
Unfortunately there is no single 'best way'. It depends on things like you budget, time to implement, your software and electronics experience level, size restrictions, etc, etc.
You have done some research, that's a start, so now you need to list the pluses and negatives for each method as applies to you and your project, and then make your decision.
Lefty