Lego provides a couple of ways for building a differential, such as this:
and also provides a limited-slip gear like this:
What's the simplest way to combine the two mechanically such that if you have one motor driving two wheels, they can turn at different speeds (i.e. they aren't locked to each other), but at the same time, they will both receive a reasonable amount of force (i.e. if one wheel does not make contact with the ground, the one that does will still apply some force, as opposed it it not spinning at all and the free-hanging one going at twice the speed)?
The simple solution is to just use some belts to drive both wheels, but I would like a geared solution if possible