hmm... an interesting question. Personally, I think that
this is my favorite. It's really small, really light, and really cool. It's also nice because you don't have the drive axle after the supports on the module. Having the drive axle higher up than the module rotation bearing will really decrease the loads that part will see.
If you want two speed, I've seen a team 111/team 16 style swerve that has both the motor and the shifting mechanism in the rotating part. another cool idea would be to use a vex pro ball shifter, but then have the output shaft go directly into the module, so you're "direct driving" the swerve.