[Veselin Kolev]

When my team did swerve, we made the gearbox with a steel shaft sticking out the top, and used 2 radial and 2 thrust bearings on each. This was overkill, we realized lated we could have just used plain old bronze bushings.

For our design, the mounts for the swerve were part of the chassis, and the sprockets that turned the modules were mounted to the top of the steel shaft which extended through the bearings. Look at swerves made by 114, 115, or 258 if you want a better idea of what I mean.