front wheel drive is easier, but rear wheel drive is much better.
FWD is easily-doable with pretty much standard parts. And, if you have equal-length drive-shafts then there won't be any torque-steer.
RWD is much, much better, but much harder to achieve. As a first, you'd need to make sure that the roll-centre is known and compatible with the front - and you then need to set about designing the suspension installation to suit. It's a really tough ask, and one I'd have to think twice about before embarking on, even having spent the last twenty years designing cars for a living.
a good start would be putting struts at the rear as well as the front, providing the roll characteristics are right.
semi-trailing arms as per Omega are not really suited to a small car, and as for a live-axle, don't even think about it, I'm presuming you want a car and not a tractor.