A drive configuration for a skid steered vehicle, comprising: first and second torque outputs that are coupled by a differential and in a torque connection with first and second electric motors respectively, wherein the differential is configured to mechanically transfer power across itself and comprises: a pair of outer planetary gear sets and a pair of inner planetary gear sets, both pairs disposed between the first and second electric motors, the pair of inner planetary gear sets being disposed between (i.e. nested within) the pair of outer planetary gear sets; the pair of outer planetary gear sets comprising: a pair of outer planet carriers arranged to turn with the respective output shafts; a pair of outer sun gears arranged to turn with the respective rotors of the propulsion motors; and, a pair of outer ring gears, operatively coupled to each other via a gear arrangement that only permits the outer ring gears to rotate relative to one another in an equal and opposite manner; the pair of inner planetary gear sets comprising: a pair of inner planet carriers interconnected by a cross-shaft such that the carriers rotate in common; a pair of inner ring gears arranged to turn with the respective output shafts; and, a pair of inner sun gears, wherein at least one sun gear is operatively coupled to the gear arrangement and, either the other inner sun gear is also operatively coupled to the gear arrangement so that the inner sun gears rotate relative to one another in an equal and opposite manner, or, the other inner sun gear is fixed stationary. first and second torque outputs that are coupled by a differential and in a torque connection with first and second electric motors respectively, wherein the differential is configured to mechanically transfer power across itself and comprises: a pair of outer planetary gear sets and a pair of inner planetary gear sets, both pairs disposed between the first and second electric motors, the pair of inner planetary gear sets being disposed between (i.e. nested within) the pair of outer planetary gear sets; a pair of outer planetary gear sets and a pair of inner planetary gear sets, both pairs disposed between the first and second electric motors, the pair of inner planetary gear sets being disposed between (i.e. nested within) the pair of outer planetary gear sets; the pair of outer planetary gear sets comprising: a pair of outer planet carriers arranged to turn with the respective output shafts; a pair of outer sun gears arranged to turn with the respective rotors of the propulsion motors; and, a pair of outer ring gears, operatively coupled to each other via a gear arrangement that only permits the outer ring gears to rotate relative to one another in an equal and opposite manner; a pair of outer planet carriers arranged to turn with the respective output shafts; a pair of outer sun gears arranged to turn with the respective rotors of the propulsion motors; and, a pair of outer ring gears, operatively coupled to each other via a gear arrangement that only permits the outer ring gears to rotate relative to one another in an equal and opposite manner; the pair of inner planetary gear sets comprising: a pair of inner planet carriers interconnected by a cross-shaft such that the carriers rotate in common; a pair of inner ring gears arranged to turn with the respective output shafts; and, a pair of inner sun gears, wherein at least one sun gear is operatively coupled to the gear arrangement and, either the other inner sun gear is also operatively coupled to the gear arrangement so that the inner sun gears rotate relative to one another in an equal and opposite manner, or, the other inner sun gear is fixed stationary. a pair of inner planet carriers interconnected by a cross-shaft such that the carriers rotate in common; a pair of inner ring gears arranged to turn with the respective output shafts; and, a pair of inner sun gears, wherein at least one sun gear is operatively coupled to the gear arrangement and, either the other inner sun gear is also operatively coupled to the gear arrangement so that the inner sun gears rotate relative to one another in an equal and opposite manner, or, the other inner sun gear is fixed stationary.