improvement? We're already getting WAY more than we used to, try being on a rookie team 2 years ago, the only transmission you got was the transmission you get on a Bosch Hand Drill. Then you'd also get a right angle drive system too, personally I think we are lucky enough with what we got. And its not that hard find a way to make the output shaft fit the speed that you want. There should some challenge and FRC shouldn't be too simple. And for the mis-match units, I think they were trying to make it as cheap as possible, I don't want to be paying more than $2,000 for a kit with standard units, if its cheaper using 2 different units, go ahead I'm sure I'll be fine
The kit transmission met its goal this year, get as many teams as possible to be able to have a driving robot. Plus, how many teams did you see actually moving this year? Compare that to years past, you'll see a major improvement.
check
www.andymark.biz out too they got several options for what you can use to as a pre-fabricated solution.