Powertrain of 3D printed remote controlled 2-speed AWD car

This project is a DIY car including 2-speed gearbox, clutch, center differential with optional lock, parking brake, and Torsen differentials in the front and rear. The independent suspension of the wheels is supported by dual cardan joints and the rack-and-pinion steering approximates the Ackermann condition. Most of the mechanics are selfmade from 3D printed parts. The electronics and the remote control are custom-built based on ESP32 microntrollers. The video displays the different components of the powertrain and shows how the actuators work. Gear shifter, clutch, and diff lock use brushed DC motors (N20). The brake uses a stepper motor (NEMA 14). The steering uses an RC servo motor (20 kg/cm). You can find all details and files here: