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To be done economically, it needs to be done with OEM parts instead of one-off custom parts. I'm not aware of any production car with hub motors. There are problems with unsprung weight and keeping the dirt and grime out of it.
If there is clearance at the axle line there are SUV rear axles that might serve — Highlander, LX400h, RAV4. A belt driven altermotor or something inline in the driveshaft seem more feasible.
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