Rotating based on analog stick movement should be simple. Just read the x-axis of the stick and add that to the local rotation of your tank.
var horz = Input.get_action_strength("look_right") - Input.get_action_strength("look_left")
rotate_y(-horz * stick_speed * delta)
In this case I have set up an action map for a joy axis in the project settings.

Stick speed is an export var that controls how fast the object spins.
Then for the forward movement, you need to transform the z-axis into a local coordinate frame.
Near the top of the script (outside any function)
export var move_speed = 1.0
export var stick_speed = 1.0
var forward_vec = Vector3(0.0, 0.0, -1.0)
var up_vec = Vector3(0.0, 1.0, 0.0)
Then in _physics_process:
var basis = get_transform().basis
var forward = basis.xform(forward_vec)

Now you can use forward to move your tank, like with "move_and_slide".
if Input.is_action_pressed("forward"):
move_and_slide(forward * move_speed, up_vec)
You'll have to customize move and stick speed to what you want. Hope that helps.