Well, here are pictures of my new drive steer and suspended axle.
It was not created in a past few days, but for a past few years! I have started drive steer concept on small scale 4 years ago. 
This one is old, and take a lot of space, and it has no suspension.

But this one is very good. Basicaly I have used this aproach for my LTM1090 just with different steering solution, gear rack was above the diff (new one is better).
 
One part of credit of this creation I should give to Brickshelf user Sariel, because I borrowed his idea for puting drive gear and steer clutch 16 gear on same axle, so it allows rotating the whole system.
Howewer, my system is 2 studs narower, and it uses different aproach (it can be built aproximate 20 percent using his instructions) 
Using gears insted of Universal Joint is a few years old idea, I think from one Japanese site. I used the idea for driving diff directly with the worm gear in few creations of mine (JCB, Hummer, LTM1090).

Pictures of this 6 axles integrated into the chassis will be here soon...