A transmission for a work vehicle, said transmission comprising: - a hydrostatic unit configured to provide a torque to a first input shaft, said torque being provided by an internal combustion engine of the work machine, - a first gearing connecting said input shaft to a first intermediate shaft and configured to transmit a first torque value to said first intermediate shaft, - a second gearing connected to said input shaft and connectable to a second intermediate shaft, said second gearing being configured to transmit to said second intermediate shaft the same torque value as transmitted by first gearing but in an opposite rotation direction with respect to the rotation direction of first intermediate shaft, wherein - first and second intermediate shafts (12, 14) are configured to cooperate respectively with first and second engaging means (15, 16), said engaging means (15, 16) configured to couple both first intermediate shaft and second intermediate shaft with an output shaft, mechanically connected to the traction wheels, the transmission being configured such that: - whenever the torque provided by the hydrostatic unit is near to a zero value, both first and second engaging means (15, 16) are configured to be contemporary engaged, and - output shaft is provided with a first "near zero" torque transmitted by first intermediate shaft in a rotation direction and with a second "near zero" torque transmitted by second intermediate shaft in the opposite rotation direction and having the same value as said first "near zero" torque, so that the torque acting on output shaft is exactly equal to zero; wherein said output shaft, said first intermediate shaft and said second intermediate shaft are coaxial to an axis of said transmission. - a hydrostatic unit configured to provide a torque to a first input shaft, said torque being provided by an internal combustion engine of the work machine, - a first gearing connecting said input shaft to a first intermediate shaft and configured to transmit a first torque value to said first intermediate shaft, - a second gearing connected to said input shaft and connectable to a second intermediate shaft, said second gearing being configured to transmit to said second intermediate shaft the same torque value as transmitted by first gearing but in an opposite rotation direction with respect to the rotation direction of first intermediate shaft, wherein - first and second intermediate shafts (12, 14) are configured to cooperate respectively with first and second engaging means (15, 16), said engaging means (15, 16) configured to couple both first intermediate shaft and second intermediate shaft with an output shaft, mechanically connected to the traction wheels, - whenever the torque provided by the hydrostatic unit is near to a zero value, both first and second engaging means (15, 16) are configured to be contemporary engaged, and - output shaft is provided with a first "near zero" torque transmitted by first intermediate shaft in a rotation direction and with a second "near zero" torque transmitted by second intermediate shaft in the opposite rotation direction and having the same value as said first "near zero" torque, so that the torque acting on output shaft is exactly equal to zero; wherein said output shaft, said first intermediate shaft and said second intermediate shaft are coaxial to an axis of said transmission.