Our robot was equipped with a PTO (8 motor drive and 0 motor lift or 4 motors on both) and a 2 speed transmission, so we could run 8 motors on a 1:1 gear ratio with 4" wheels. Torque isn’t what’s missing in pushing a clump of stars under the fence. I feel like others can also back me up here; if 2 or more stars are in the wrong orientation, more torque just pushes the fence away, not the stars under the fence. Also, in such a scenario, it would be far faster just to turn around, pick up the clump, and dump it over the fence. To be honest I can’t really think of any reason to run a transmission this year. The extra torque isn’t necessary.