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You are right - mounting a motor in line with the drive shaft will be a challenge, but doable for sure. How much torque does your DC motor have? From the pictures it looks massive and should be able to handle direct drive. But I wonder if mounting your motor to the side of the driveline and chain driving a sprocket integrated (welded?) to the transmission output yoke would work.
GOOD
-Simpler
-Further drive ratio reduction
-Easy ratio change
BAD
-Noisy
-Requires maintenance
The ultimate would be using a 4WD/AWD vehicle or a vehicle that was available as one, for example, my wife's Matrix. Install a rear differential from a wreck, driven by a motor. Front drive gasser/rear drive EV/AWD hybrid.
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