I'm by no means an expert, in fact I'm pretty feeble at off-road racing, but I've raced in a few different sports halls over the years with both buggies and buggies
No two surfaces are consistent, depending on what they are made of or what they have been cleaned or prepared with, and even the ambient temperature can make a pretty big difference between either no grip or satisfactory grip.
Grip comes from tyres. If there are no carpet/grip sections, yellow full spikes and minispikes seem to work best - all I can suggest is to try them and see which are faster. If the floor grip is very high, minipins can have the edge. I can't give any definitive answer on inserts, I've only ever run them with the "normal" inserts people would use outdoors, but I would be wary of running without as the tyre could collapse on itself.
With setup, "balance" is the most important thing. Running soft settings for a perceived increase in grip has never worked for me, it makes the car sluggish to change direction, and can even reduce grip at the limit. I've always preferred the typical high-grip UK setups to anything else.
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