A torque compensating walking beam assembly for a vehicle that includes an engine, a chassis, and a wheel, the walking beam assembly comprising: a support beam that includes an end; a mount member that is configured to mount the support beam on the chassis such that the support beam is able to rotate relative to the chassis; a gear assembly (1028, 1030) that is supported by the support beam, the gear assembly including a gear train and a gear housing, the gear train operably coupled to a wheel hub, the wheel hub configured to support a wheel of the vehicle, the gear housing substantially enclosing the gear train, the gear train including a gear with a first journal surface, the gear housing including a second journal surface; an input drive assembly configured to deliver an input torque from the engine to the gear train; a reaction member (1034, 1036) configured to connect to the chassis, the reaction member (1034, 1036) connected to one of the gear housing and the gear of the gear train, the reaction member (1034, 1036) configured to transfer a reaction force between the chassis and the one of the gear housing and the gear of the gear train as the first journal surface journals on the second journal surface; characterised in that the gear train is a planetary gear train with a sun gear, a plurality of planetary gears and a ring gear and the ring gear includes an outer diameter portion that includes the first journal surface and an attachment portion that projects from the outer diameter portion, the attachment portion being pivotally connected to the reaction member (1034, 1036) and the gear housing includes an aperture through which the attachment portion extends out of the gear housing. a support beam that includes an end; a mount member that is configured to mount the support beam on the chassis such that the support beam is able to rotate relative to the chassis; a gear assembly (1028, 1030) that is supported by the support beam, the gear assembly including a gear train and a gear housing, the gear train operably coupled to a wheel hub, the wheel hub configured to support a wheel of the vehicle, the gear housing substantially enclosing the gear train, the gear train including a gear with a first journal surface, the gear housing including a second journal surface; an input drive assembly configured to deliver an input torque from the engine to the gear train; a reaction member (1034, 1036) configured to connect to the chassis, the reaction member (1034, 1036) connected to one of the gear housing and the gear of the gear train, the reaction member (1034, 1036) configured to transfer a reaction force between the chassis and the one of the gear housing and the gear of the gear train as the first journal surface journals on the second journal surface; characterised in that the gear train is a planetary gear train with a sun gear, a plurality of planetary gears and a ring gear and the ring gear includes an outer diameter portion that includes the first journal surface and an attachment portion that projects from the outer diameter portion, the attachment portion being pivotally connected to the reaction member (1034, 1036) and the gear housing includes an aperture through which the attachment portion extends out of the gear housing.