We've never done a specific WCD drive train, yet for the last two years we have done a live-axle setup. I can't answer your question about keeping the axles in since we always direct-drove the wheels from the transmissions (linkage drive 1 year, mecanum the other year). However, to attach the wheels to the shafts we used
AndyMark hubs.
Another option is to use hex shafts for the axles and then use
wheels* that have a
hex bore in them.
*I do not recommend using these wheels for an FRC competition. Perhaps they're a good cheap alternative for the offseaon so you can get the overall drive train design correct, but niether the tread nor structure of the wheel will last more than a few matches during FRC competition.