The multi-axle drive provides for maximum traction of the vehicle. However, this mode of driving, apart from the complicated design of the driving mechanism, is connected with major problems due to the so-called kinematic discrepancy encountered by a vehicle under operation. In certain conditions, the kinematic discrepancy results in the phenomenon of so-called circulating power which causes, first of all, additional loading on the drive system, then increased energy loss and tyre wear and, in the case of an articulated frame-steer vehicle, the substantial growth of steering resistance. The paper reviews some examples of results of the studies on wheel slips, load on the drive system, and on the 4-wheel-drive articulated frame-steer vehicle's steering gear. The author also discusses a new concept for determining kinematic discrepancy. The suggested equations, when applying the present mathematical models which express the dependence of a tyre's slip rate on longitudinal forces, permit to solve the statically undeterminable problem concerning the distribution of the wheel's longitudinal forces in any multi-axle vehicle.