can this not use a single center motor with a shaft, just replacing the current structures? It won't be that big savings as it is in electric vehicles, but it could reduce some complexity and unify architecture of electric and ICE?
Non-spinning-shaft power transmission (doesn't really need to be electric, could as well be something like fluid power transmission like hydraulic or pneumatic power) dodge this by putting the power plant in a way the angle between power plant and wheel can't change.