Abstract: A four wheel drive and steering system for a motor vehicle includes a splitter gear assembly coupled to the transmission for splitting rotational power between the front wheels and one set of wheels of a tandem rear wheel vehicle. A first drive train rotationally couples the front wheels to the transmission, while a second drive train drives the one set of rear wheels. The second drive train includes a pair of shaft assemblies, each corresponding to a respective rear wheel. Each of the pair of shaft assemblies includes a rear shaft extending substantially parallel to the longitudinal axis of the vehicle adjacent a vertical plane including the corresponding rear wheels, thereby providing clearance for the floor of a dropframe cargo compartment. A transfer gear assembly couples the corresponding rear wheel to the rear shaft of the shaft assembly. The steering system is coupled between the steering linkage for the front wheels and the other set of tandem rear wheels.