An autonomous vehicle comprising: a retaining structure associated with a base of the vehicle; and a wheel arm assembly coupleable to the retaining structure at an exterior of the base, wherein the retaining structure comprises: a first end that faces externally with respect to the vehicle; and a second end that faces internally with respect to the vehicle, wherein the retaining structure has a first channel that extends from the first end to the second end and wherein the wheel arm assembly is located within the first channel when the wheel arm assembly is coupled to the retaining structure, wherein the wheel arm assembly comprises a retainer bushing 2106) and a wheel arm, the wheel arm having a first end, a second end, a first portion located at the first end and a second portion located at the second end, wherein the retainer bushing comprises a first end, a second end, and a second channel that extends from the first end of the retainer bushing to the second end of the retainer bushing, and the retainer bushing is fastened to the retaining structure by a number of fasteners, wherein the wheel arm assembly includes a sliding bushing that is press-fit within the second channel of the retainer bushing, a plate, a set of fasteners, and a bearing, wherein the sliding bushing has a first end, a second end, and a third channel that extends from the first end to the second end, wherein the first portion of the wheel arm is located within the third channel of the sliding bushing and the second portion protrudes outside of the third channel in a direction that extends past the first end of the sliding bushing, wherein the plate is fastened to the first end of the wheel arm using the set of fasteners of the wheel arm assembly, such that the plate fully overlaps the first end of wheel arm and the second end of the sliding bushing and at least partially overlaps the second end of the retainer bushing. a retaining structure associated with a base of the vehicle; and a wheel arm assembly coupleable to the retaining structure at an exterior of the base, wherein the retaining structure comprises: a first end that faces externally with respect to the vehicle; and a second end that faces internally with respect to the vehicle, wherein the retaining structure has a first channel that extends from the first end to the second end and wherein the wheel arm assembly is located within the first channel when the wheel arm assembly is coupled to the retaining structure, wherein the wheel arm assembly comprises a retainer bushing 2106) and a wheel arm, the wheel arm having a first end, a second end, a first portion located at the first end and a second portion located at the second end, wherein the retainer bushing comprises a first end, a second end, and a second channel that extends from the first end of the retainer bushing to the second end of the retainer bushing, and the retainer bushing is fastened to the retaining structure by a number of fasteners, wherein the wheel arm assembly includes a sliding bushing that is press-fit within the second channel of the retainer bushing, a plate, a set of fasteners, and a bearing, wherein the sliding bushing has a first end, a second end, and a third channel that extends from the first end to the second end, wherein the first portion of the wheel arm is located within the third channel of the sliding bushing and the second portion protrudes outside of the third channel in a direction that extends past the first end of the sliding bushing, wherein the plate is fastened to the first end of the wheel arm using the set of fasteners of the wheel arm assembly, such that the plate fully overlaps the first end of wheel arm and the second end of the sliding bushing and at least partially overlaps the second end of the retainer bushing. a first end that faces externally with respect to the vehicle; and a second end that faces internally with respect to the vehicle, wherein the retaining structure has a first channel that extends from the first end to the second end and wherein the wheel arm assembly is located within the first channel when the wheel arm assembly is coupled to the retaining structure, wherein the wheel arm assembly comprises a retainer bushing 2106) and a wheel arm, the wheel arm having a first end, a second end, a first portion located at the first end and a second portion located at the second end, wherein the retainer bushing comprises a first end, a second end, and a second channel that extends from the first end of the retainer bushing to the second end of the retainer bushing, and the retainer bushing is fastened to the retaining structure by a number of fasteners, wherein the wheel arm assembly includes a sliding bushing that is press-fit within the second channel of the retainer bushing, a plate, a set of fasteners, and a bearing, wherein the sliding bushing has a first end, a second end, and a third channel that extends from the first end to the second end, wherein the first portion of the wheel arm is located within the third channel of the sliding bushing and the second portion protrudes outside of the third channel in a direction that extends past the first end of the sliding bushing, wherein the plate is fastened to the first end of the wheel arm using the set of fasteners of the wheel arm assembly, such that the plate fully overlaps the first end of wheel arm and the second end of the sliding bushing and at least partially overlaps the second end of the retainer bushing.