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Seems to me that, since your wheels are all chained together, you'd have the same ability to impart force on the ground if two wheels were in the air. Actually, if the wheels you're on after gripping have more traction than the others, you might just be better off with the other two off the ground.
This all changes if you're pushing down on the goal, in which case you're losing normal force on your wheels, and not getting as much traction.
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