Why do you need an axle?

Put the engine and its transmission to the wheel mounted next to each wheel.

No need for differentials etc, if they can work out a steering mechanism for each, then you've got 4WD with 4W steering.

In the video there's talk of how you can use them as regenerative braking as well, so have that as part of the wheel structure.

No axles, no differentials, independent suspension, electronically controlled power to each wheel, regenerative braking.

Gonna be a fun decade or more of innovation coming.

Wouldn't putting them in the wheel increase unsprung mass, which would degrade the feel of the car?