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1. Like EricH said, the bottom one is a spacer.
2. The wheels turn together so they always face the same direction.
3. There is no possible way for all 4 wheels to be on the same line.
4. Isn't it possible to turn a four wheel drive bot by giving a positive value to 1 set of wheels and a negative value to the other set of wheels?
The fronts are linked together and the backs are linked together.
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Like I said, disregard 2 and 3. For number 4, if you look at the CAD, the supershifter will be connected to both wheels. This means that you cannot power each side individually, so you cannot turn like a 6 wheel.