[Bryce2471]

I like the design, but I have a consern and and recommendation.
1st: have you made a BOM For the design? I think you might find it would be very expensive to run four of these modules on a robot.
2nd: I would recommend using smaller miter gears, and trying to optimize the size of the lower wheel module. I would try to get the outside diameter closer to that of your wheel.
Another way to do this would be to this would be to get rid of the thrust bearing. Many people would tell you that it's necessary on the miter, but I didn't use one a swerve drive i used this off-season. It Didn't cause any issues.