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Motor per wheel doesn’t have to be in the wheel. Could be through a very compact axle, maybe with a fixed gear box to get the angle right.

Huh I know nothing about cars. How would the angle affect the gear box? Isn’t that just for getting the right torque ratio?

What would be wild (and probably wildly impractical) is an inductive coupling between the motor (inboard, unsprung) and the wheel.

What if the shock absorber piston shaft were actually an axle?