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Vermillion's vector thrust appeals to my logic for weight savings on redundant thrusters, but yes, I'm not keen on using rotor thrusters in compact form factors. The vectored thrusters really work best on the longest possible distance from the main body's center of mass, to maximize their leverage for stability -- a minimum of about 5-block arms (small grid) away from a typical minimal body, I've found. Doesn't work as well for me when the thrusters are mounted right off the body.
If it interests you, I'd love to see what minimalist design aesthetics you could work with fewer than all-directional thrusters (2-4)!