Looks pretty darn good!
Personally, I would move the module rotation belt and stuff inside the housing, rather than hanging below like it is. That will allow you to put a thrust bearing between the module and the lower plate of the housing, which is pretty essential if this is going to actually support a robot.
I'd suggest taking a look at
1640's swerve designs. Their design is very effective on the field, and they have been good enough to release basically everything you could ever want to know about it online, including CAD models.
I'm not saying "Scrap your design, go with theirs" but a lot of the challenge of swerve drive is finding the issues that you can't forsee in CAD, and fixing them. And they've already done that part for you
