[dhitchco]

Brandon,
as others have suggested, the optimal drive design is a big "it depends".

There are many examples of real-world 3-wheel (or overhanging) designs such as engine lift cranes for automobile repair, or drum lifter cranes for 55 gallon barrels.

More importantly, it is vital that you and the team come to some concensus on your design and then put your best foot forward. By far, the biggest problem will be if you do NOT stick to some pre-determined strategy. You know that !#@$% will happen, but at least you can stay that you chose a design wisely and then executed flawlessly....win or lose.