Our 2006 shooter bot used cantalievered wheels on our track systems, If any of you remember us having issues with tracks getting walked off if we were being pushed around a turn, we fixed that in the off season.
The fix was, always use two ball bearings, not one, even if the specs say it can take the torsional loads...
Anyhow, yes, cantaliever wheels do take a little more work (we had to design and machine our axles) but they make the robot extremely easy to work on.
-q