[Abhishek R]

We used a setup similar to what you're describing. We had an 8WD West Coast Drive with 4 Colsons on the outside wheels and 4 omni wheels on the center, Depending on your drop, center of gravity, and gearing for acceleration speed, you may or may not drop back onto the traction wheels when accelerating, or in a pushing match. For this reason, you would need to actuate at least one end to ensure the traction wheels are touching the ground.

Now that I think about it, that's exactly what we experimented with this year.