This is the swerve tread seen on a lot of FIRST Robots, it has a 4-inch diameter and is 1.5 inches wide

This model is best printed with TPU, I've personally had the best luck with Overture's 95A TPU

I did not design this model, it was legally acquired from Swerve Drive Specialties' STEP file of their Mk4i swerve drive assembly and can be found there

Supports for the print are necessary and for efficient printing, they should be small and somewhat connected to the model, if you do it well, the post-processing should be little more than pulling all the supports off in a small grid.