Thanks for all of your helpful replies!
I have a question of my own regarding the TETRIX chain as I have never worked with it. Is it compatible using the LEGO gears as sprockets? I have a good amount of LEGO chain, but it tends to fail quite easily.
If I can't use chain, I have a design that connects all of the modules together with 40 tooth gears. It seems to work well, but I haven't tested it with all four modules because I only have one module until my order of parts arrives.
In the image, some parts are a bit hard to see from this angle, so I can clarify them. The reason the 12 tooth gear is on a 3m axle is because if I extend it across between the liftarms, it rubs on the tire. The way it is now is the best solution I could come up with. And yes, the vertical drive shaft is supported by the black piece that you can barely see right below the turntable. The drive gear cannot move upward because of it.
As for weight, the module weighs about an eighth of a pound, probably one of the lightests swerve designs ever.
I might be able to get a another render at a different angle so that the underside of the turntable can be seen better.