pic: Dual Wheel Swerve-Drive

[Lil' Lavery]

I still don't think you can go up ramps corner first (or very well at all with that low ground clearance, but that's a different matter). If you lead with a corner, you're going to lose contact with one (or both) of your adjacent corner wheels.
Say you lead with your "north" corner, then you will lose contact with your east and/or west corners as you go up the incline.
If your CG is low enough, and your base stable enough, with enough torque in each module, this might not be a problem, it would just be a bit scary (and possibly arc depending on how you steer it).