is there any better way to move the character than rigidbody.addRelativeForce?

hey, i want to make a movement script so i have more control and understanding of what is happening than if i was using the character motor and fps input scripts that come with unity, so i was wondering what would be the best way to make the character move, and the first thing that came to mind was using rigidbody.AddRelativeForce but i wanted to know if there was a better way of doing this