[Aren_Hill]

A lot of people posting without first hand knowledge, that's fun.

Adam and 973 are in the best position to answer the original question, as they've had quite a few 6wd cantilevered drivetrains and have recently given swerve a try.

My recommendations is know what you're getting into, easiest way to do that is have a fully functional prototype you can drive the wheels off of. I agree with Adam that the programming/control aspect is what makes a swerve great, I've seen many swerves (ours included), with control not quite what it should've been. As a result many of the Pro's were diminished and the effectiveness brought below that of a normal 6wd or 8wd in some cases.