Abstract: A corner or end module for assembly on a vehicle body comprises a wheel(s), a frame having connection points for removably securing the corner module to the vehicle body, a drive system capable of providing torque to drive the wheel(s), a brake system connected to the wheel(s) capable of braking the wheel(s), a suspension system located between the frame and the wheel(s), a steering system connected to the wheel(s), capable of providing a steering input for the wheel(s), and a communication system capable of communicating from at least one of a drive controller, brake controller, and steering controller of the corner or end module with one of: another corner or end module, a vehicle controller; an autonomous drive controller; another vehicle, infrastructure, and a wireless data server.