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I've made prototypes chassis this way, but I was never a competition robot
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Joe, you'll always be a competition robot to me!
Steven, I looked quickly at your drawing and agree that it is a much nicer solution. However, I haven't looked at how it actually interfaces with the rest of the transmission. Meaning, does the CIM adapter plate change? Do you have to make any further modifications to the DeWalt housing? Also, make sure you do a stress calculation on the key engagement, with respect to the new gear/carrier assembly. (Though I agree that it should be on the low side...)
We didn't have any issues with side loading with our setup. We used the suggested C-Clamps in the whitepaper, but swapped out the steel ones for aluminum ones to save some weight. Again, this was with the "standard" setup, not one you are suggesting. If you can engineer a way to fit two sprockets on the end of the output shaft, I'd be happy to hear about it. That would cancel out the side loading on the shaft, as well as make 4wd and 6wd setups a lot easier to run chain to.
Keep up the good work,
BEN