I would say the #1 step worth doing is making sure your axle alignment is right. You want the rear axles at a 3 degree cant so they run away from the body. The front dominant axle can be straight drilled (usually the passenger side front). If you also put a 3 degree cant on the driver's side front axle is should just be a hair from touching.
So 3 wheels touching = less friction than 4 wheels touching. Check to see if you rules specifically require 4 wheels touching.
If you have a good axle alignment, simply prepping the wheel bores, polishing the axles and running some decent lubrication should get you past 95% of the field. When is your event?