We got a 221 wild swerve module set a few years back and built a simple 8020 frame around them hoping to get a prototype swerve bot for possible future designs. We have yet to get it functioning though due to being bad with loose chain runs, too cheap to use anything other than old parts on it, and generally lazy.
On an unrelated note, what are those custom electronics attached to the tops of the Talons in that picture?