[evand4567]

Another concern with the swerve module (speaking from experience here): You might want to consider hex collars with a set screw and divet or some other stronger form of constraining your hex shaft (like roll pins), because the high amount of torque acting on the bevel gears will try to force the shaft and cause the collars to slip. Having the flange on the bearings facing inward helps, but it's still something you should address.