For the last few months, @JOEL340 and I have been working on designing a swerve module. Neither one of us have ever touched swerve before, let alone try to design it, so after many many attempts, errors, and missing obvious things early on, we finally got our first prototype built. To see our cad check it out Here.
For our trials and struggles, and learn from our initial mistakes, and see the progress you can check this thread.
Looking through the cad you can see some of our old instances, some stopped early, some lost some parts during rebuilds, but some of the initial ideas are still present.