There are a lot of ways to make frames too, yet AM and IFI each make a single frame kit that many teams use successfully.
The ability to design and fabricate a coaxial swerve drive is beyond most teams, and could probably be done by a company such as AM so that it's affordable, efficient, and somewhat universal. I expect that they would be open to suggestions for design parameters, hopefully from teams with experience with this stuff. It could be designed to be sort of universal, with a standard 6 hole sprocket hub for the steering, and a standard 1/2" keyed shaft for the drive, and allow the users to install their choice of standard sized 6" wheels with the standard 6 bolt sprocket pattern, or a common hex sized hole. The mounting flange could be designed to be easy to adapt to different types of chassis, including the kit chassis.
I've heard that Andy Baker spends a lot of time sitting around doing nothing, so this would be a great project to fill up a small portion of his free time.
