While adding support for direct drive motors in Chrono::Vehicle is on my todo list, this is not currently available.
Having said that, this setup can still be accommodated with a bit of a workaround:
This approach (albeit for a slightly different purpose) is implemented in the Chrono::Vehicle co-simulation framework when attaching a drawbar pull rig to a (tracked) vehicle. Look at the implementation of ChVehicleCosimTrackedVehicleNode::OnInitializeDBPRig and of TrackedVehicleDBPDriver.
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