[Billfred]

One thing that can help is visible in that photo: those white plastic cylinders allowed us to route chain around things (such as the space the bumps that year would occupy). That year's gearbox setup was basically the guts of an AndyMark Shifter (plus another input gear as an idler to fit the third motor), so a Toughbox or CIMple Box would be even easier to implement.

The key, as ever, is good planning and starting with snug chains. I would try it out as a prototype before putting it into production on an FRC robot.