Teaching basic crosswind landings I started with an early sideslip to show how to keep the aircraft straight with the rudders and correct for crosswind with ailerons to stay on centerline.
As they became more experienced I had them delay until late into the flare to make one fluid coordinated rudder and aileron application and then make small adjustments to keep on centerline with no crab. The technique is comfortable for the passengers because you aren't kicking it out but smoothly coordinating the transition from crab to touchdown.