Nonadrive Concept

[Cothron Theiss]

I really recommend you check out the Grasshopper Hybrid drove that 624 initially showcased.

https://www.chiefdelphi.com/media/papers/2968?

Also, just search for Grasshopper drives on here and you'll find several threads with a lot of great information. I'll comment on a few things, but a lot of those threads have information that would help you as well.

Your speeds are high. Are those the theoretical or adjusted values? If you aren't, I'd suggest you use the JVN Design calculator to determine your actual speeds when driving. Remember that your "Weight on Driven Wheels" will not always be 100%. That can make a big difference.
Also, it looks like you've got a fixed strafing wheel in the middle. With n-wheel or actuating wheel drives, you especially need to have some way to actuate your strafing wheel so you can actually get a decent amount of weight on that single wheel.
I'm not a big fan of the way you've attached your actuators to the modules. It looks like there could be a lot of flex in the system, especially if the clevis rod doesn't slide along the slot as smoothly as you expect. Were that to bind mid-shift, you could end up damaging the modules if the pneumatics have enough power.
I like the profile of your gearboxes. Compact gearboxes are a wonderful thing.

Keep working on this design! It's a great way to test out a lot of concepts needed for building great robots.