 Herewith, we verify that a single task formulation is key to reveal the full potential of wheeled-legged robots  .
<meaning-changed>  Herewith, we verify that a single task formulation is key to reveal the full potential of wheeled-legged robots  .
 The paper's findings contribute to evaluating a decomposed, i.e., sequential optimization of wheel and torso motion, and single-task motion planner with a novel quantity, the prediction error, which describes how well a receding horizon planner can predict the robot's future state. To this end, we report an improvement of up to 71\% using our proposed single-task approach, making fast locomotion feasible and revealing wheeled-legged robots .