Square robot that looks round

Okay, it's not exactly a square. Anyways: one motor for going forward/backward, and one motor for looking around. Head will turn towards forward direction as defined by the wheels. A synchro drive, but the robot head turns toward moving direction. Similar to the [Pathfinder] (https://www.thingiverse.com/thing:4781541) but with wheels.

Test run video: https://youtube.com/shorts/9fdpSYPMmqQ?feature=share

###Printed parts
wheel, wheelpod, gear3, gear4, gearguard, wheelpod-bearing-ballcage, syncgear x4
gear1, gear2 x2
Everything else x1. base-center needs support.
There are 2 platform versions, one will (hopefully) match the holes on a 9x7 cm protoboard, the other will fit a custom ESP32 carrier board (Kicad files included). Both will also fit an MPU6050 gyro module.

###Additional parts
050 size DC motor x2, for drive power. Those two motors work in parallel mechanically, but can be connected series or parallel electrically. If your motor voltage is low then you can connect two of them