A hydraulic charging and driving system for extending and retracting a hydraulic actuator, for a vehicle, the hydraulic charging and driving system comprising: a hydraulic actuator comprising a bottom chamber and a piston rod side chamber; a motor assembly, the motor assembly comprising a motor, a piston, a charging chamber, and a lead screw coupled to the motor, the lead screw being extendable inside a cylinder of the motor assembly for driving the piston when the motor is activated; an accumulator assembly comprising an accumulator chamber; the charging chamber and the accumulator chamber being hydraulically coupled to each other; and a selector valve; wherein the accumulator assembly is hydraulically coupled to the bottom chamber and further hydraulically coupled to the piston rod side chamber via a first setting of the selector valve to provide extension of the hydraulic actuator; the motor assembly is arranged to recharge the accumulator assembly with hydraulic fluid by the motor moving the piston to eject the hydraulic fluid from the charging chamber of the motor assembly into the accumulator chamber of the accumulator assembly; the accumulator assembly and the selector valve are arranged such that hydraulic fluid in the accumulator chamber discharges via the selector valve into the hydraulic actuator to provide at least a part of an actuation of the hydraulic actuator responsive to the selector valve being switched; and the recharging of the accumulator assembly is performed at a relatively slow rate that is slower than the rate at which the accumulator assembly is arranged to discharge when providing the at least part of the actuation of the hydraulic actuator. a hydraulic actuator comprising a bottom chamber and a piston rod side chamber; a motor assembly, the motor assembly comprising a motor, a piston, a charging chamber, and a lead screw coupled to the motor, the lead screw being extendable inside a cylinder of the motor assembly for driving the piston when the motor is activated; an accumulator assembly comprising an accumulator chamber; the charging chamber and the accumulator chamber being hydraulically coupled to each other; and a selector valve; wherein the accumulator assembly is hydraulically coupled to the bottom chamber and further hydraulically coupled to the piston rod side chamber via a first setting of the selector valve to provide extension of the hydraulic actuator; the motor assembly is arranged to recharge the accumulator assembly with hydraulic fluid by the motor moving the piston to eject the hydraulic fluid from the charging chamber of the motor assembly into the accumulator chamber of the accumulator assembly; the accumulator assembly and the selector valve are arranged such that hydraulic fluid in the accumulator chamber discharges via the selector valve into the hydraulic actuator to provide at least a part of an actuation of the hydraulic actuator responsive to the selector valve being switched; and the recharging of the accumulator assembly is performed at a relatively slow rate that is slower than the rate at which the accumulator assembly is arranged to discharge when providing the at least part of the actuation of the hydraulic actuator.