I think that yes, it is possible.
Some examples:
4 bar linkage-2 motor 393 geared at 5:1
motor 393=13.5 in-lb stall torque
5/12(13.5)=135in-lb
now lets say you have a 20 inch arm.
135/20=6.75lb*
So that’s 6.75lb you can lift with 2 motor 393 without the assistance of rubber bands (correct me if I’m wrong) which should be adequate to raise most manipulators loaded with game pieces.
roller intake-2 motor 269 (or 3 wire motor) geared 1:1
4 motors total
4bar linage-2 motor 393 geared at 5:1
conveyor intake-2 motor 269 (you could probably pull off one) geared 1:1
3-4 motors total
Continuous loop chain lift (So like 1103)-2 motor 393 geared 1:1 or 1:1.6 (speed option)
roller intake-2 motor 269 geared 1:1
(or conveyor intake-2 motor 269)
4 motors total
Just some examples, it can be done. And for many of the intakes you could replace the motors with pneumatics, an intake doesn’t necessarily have to use roller or conveyors. As seen with 44 pneumatic needle in Round Up pneumatics can replace the use of motors and deliver the same overall action.
If your robot was lighter than 12 lb you probably would be able to pull off the center wheel with only 1 motor 269 geared 1:1 which really isn’t that slow.
As for the rest of the wheels, that sounds alright to me, you might want to chain them all up in the event you push the opposing robot that way if the front lifts off the ground in a pushing contest you have that 393 powering the back wheel instead of just the 269.
Just don’t make it heavy if you want to move fast.