[HELP] 4 Wheel Drive Car

[LegoTechnical]

Hello

This is the first 4 wheel drive car I've built but after testing i found it can barely move around on bumpy/uneven ground. Furthermore the axles that connect into the steering hubs tend to just pop out with too much torque. What am i doing wrong, and how can i make this more competent off road?

I know that battery box could probably be in a more balanced place: i stuck it on the back just so i could test it, but I'm pretty sure power isn't the issue: two XL motors geared up and knob gears (the differential too disengaged when i tried using it) should be more than enough. I've checked batteries and things like that, and i don't think that is the issue. So i don't understand why it isn't as competent as i expected off road. Frustrating.

[JJ2]

Get rid of the independent suspension and put in a live or floating axle setup much more suited for rugged terrain. also the SOG should really be in the center and I know you mounted the BB in the back to test but that would decrease the performance.

No self promotion here but look at some of my crawlers to see what I'm taking about

[nicjasno]

One can not see anything on those small images.