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It looks like you have made a good start.

My suggestion would be to use the drive sprocket at the end of the undercarriage so that the tracks have the most wrap around them, then they are the least likely to have any chance of jumping a tooth especially over an uneven surface.

A few idlers to help support the track frame would be a help also.

To get an odd spacing when using two rectangular liftarms you could just use another straight liftarm between them.

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