I have finally finished the first version of the drivetrain. Right now it has a 1:4 gear reduction, connected to a 1:3 belt reduction on a 5800rpm motor for a 483 rpm final rpm on a 104mm wheel. The entire setup is on dead axles, with heavily reinforced side plates. I also ensured to optimize space as much as possible which meant organizing both gear trains and the motors in order to maximize space.