An agricultural vehicle having a continuously variable transmission (700,800), the transmission comprising a transmission casing and transmission components, the components including: an input shaft (702,802) drivable by a prime mover, first and second output drive shafts (734,736,834,836) for connection to driven wheels of the vehicle, a mechanical transmission branch (750,850) which transfers torque mechanically from the input shaft to the first and second output shafts, and a further transmission branch (752,852) having at least one continuously variable motor (742,744,842,844), wherein the first and second output drive shafts are additionally driven by the at least one motor so as to provide the first and second output drive shafts with continuously variable drive, and wherein the first and second output drive shafts are positioned with an offset relative to one another, the further transmission branch comprising a pump or generator (740,840) driven by the input shaft, the at least one motor driven by the pump or generator, wherein the first output drive shaft is a first rear axle drive shaft, and wherein the second output drive shaft is a front axle drive shaft, the front axle drive shaft mechanically connected to the first rear axle drive shaft, wherein the at least one motor drives the front axle drive shaft so as to provide drive to both the front and first rear axle drive shafts, wherein the transmission includes a second motor (744,844) driven by the pump or generator, wherein the second motor drives the front axle drive shaft so as to provide drive to both the front and first rear axle drive shafts, and wherein the transmission includes a third output drive shaft (790,890), characterised in that the third output drive shaft is a second rear axle drive shaft and wherein the third output drive shaft is driven by the mechanical transmission branch and additionally driven by the further transmission branch. an input shaft (702,802) drivable by a prime mover, first and second output drive shafts (734,736,834,836) for connection to driven wheels of the vehicle, a mechanical transmission branch (750,850) which transfers torque mechanically from the input shaft to the first and second output shafts, and a further transmission branch (752,852) having at least one continuously variable motor (742,744,842,844), wherein the first and second output drive shafts are additionally driven by the at least one motor so as to provide the first and second output drive shafts with continuously variable drive, and wherein the first and second output drive shafts are positioned with an offset relative to one another, the further transmission branch comprising a pump or generator (740,840) driven by the input shaft, the at least one motor driven by the pump or generator, wherein the first output drive shaft is a first rear axle drive shaft, and wherein the second output drive shaft is a front axle drive shaft, the front axle drive shaft mechanically connected to the first rear axle drive shaft, wherein the at least one motor drives the front axle drive shaft so as to provide drive to both the front and first rear axle drive shafts, wherein the transmission includes a second motor (744,844) driven by the pump or generator, wherein the second motor drives the front axle drive shaft so as to provide drive to both the front and first rear axle drive shafts, and wherein the transmission includes a third output drive shaft (790,890), characterised in that the third output drive shaft is a second rear axle drive shaft and wherein the third output drive shaft is driven by the mechanical transmission branch and additionally driven by the further transmission branch.