[Joe G.]

I feel like this would introduce a lot of variables which hamper reliability, which are not seen in a normal swerve. Your module pivot becomes a lot more sensitive to variations in terrain, weight distribution, and small variations between the modules, for example. The steering code would be no simpler, and in fact may take on new layers of complexity since your motors are performing double-duty. Some maneuvers, such as spinning while translating, would likely become more difficult to control.

It may seem simpler on paper, but I worry that you're in fact introducing things that will generate a whole lot more trouble for you. In my never-ending quest to learn how to effectively and quantitatively assess design simplicity (ironically, a very complex problem), I've become increasingly convinced that "minimize actuator count at all costs" is a crude and shortsighted way of approaching the problem.