[JohnFogarty]

I've driven a 4WD myself (just like this) and it just takes a bit of practice. It is different, but it doesn't give a disadvantage in my mind. I've programmed plenty a successful autonomous program for this style drive. Magic drivers help, but this drive doesn't require magic.

I'll look into the possibility of remaking the gearbox to direct drive the traction wheel, that makes a good bit of sense.

My current mentor for the summer is interested in making a tensioner-free drive as a prototype to see how well it performs and how easy the maintenance would be on it. I've also never run chain-in-tube before either and I'd be interested to explore that option as well.

If the open field disappears and I need something more accurate I would obviously consider the potential of another style of drive. I just want to experiment with the simplest possible drives for a given problem/scenario. Say another 2013 or 2014 style game returns in the near future.