not sure if it can handle what I need it to
Neither are we as you have provided no data on the motors.
The L298 can drive 2 motors so you will need 2 drivers. The L298 is ancient and very inefficient compared to modern drivers. The driver itself will drop over 2V at 1A draw and it gets worse with more current. So if the motor supply is 6V and you draw 1A the motor sees less than 4V. Pololu has lots of modern MOSFET output drivers. The same drivers (clones) can be found on Ebay for less money. Choose a driver that can handle the stall current of the motor at the motor's rated voltage.
Servos do not need drivers. They do need external power as the Arcuino 5V regulators can't provide enough current for a loaded servo.