Thank you Travis.
After some testing, I think we are going to “bump up” to the 6 inch wheels and omniwheels in the front and back. This should solve most turning problems that might arise. I wont’ lie, we have had some problems with turning in the past, but we should have that worked out this year. We are running AM 2 speed transmissions and 4 cims, so it is plenty fast enough, but who said we are playing defense?