This looks pretty nifty! From the thumbnail I thought it was a swerve drive, but this is just as cool. I like the way you have multiple mounting positions for the encoder and the screw on the end of the output shaft in particular.
What applications would you use this for? What are the ratios for low and high gear? It looks like you’re using an Andymark shifter coupling, can you confirm that?
Do you have a picture from the back, or of the internals?