[z_beeblebrox]

This thread is specifically about swerve drives but a lot of the content is relevant.

In my opinion, the most important attributes are robustness and maintainability.

Others, like traction, speed and torque are easy to adapt to a specific game by swapping COTS wheels and gearboxes, but the chassis (if custom), which primarily determines robustness and maintainability takes a lot of thought and design time to make.