Our motor shield works for this application, as does the Make v1.1 motor shield. Are you referring to the Adafruit V2 shield when you say motor shield v2? I'm not sure that does current sensing - I seem to recall it does not, but may be mistaken. I also don't think it has Radio Control outputs or the ability to power your R/C receiver from the shield, or can depower the motors while running (I'm happy to be corrected if that is not right). Based on all that, I don't think the v2 shield will work.
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