You'd probably get away with a couple of RCS linear thrusters to move a vehicle like that around.
I thought about that, but I took the lazy option and just bolted the rover on to the side of the lander with a radial decoupler. For some reason or another the RCS tanks wouldn't snap to the decoupler so I thought "Meh, screw it" and just went with the rocket engine version. I also wasn't absolutely sure that RCS would cut it, though looking back I've no idea why, the gravity on minimus is tiny.