Of course I'm a bit biased, but this article by son Jason reveals the attitude behind the innovations. It's a very long story as to how we got there on my new (to me) 2009 Ulysses XBx: https://www.easttroy.org/media/good-...N_NOV_2016.pdf

Incidentally, road over 4K trouble free miles the first three weeks I had it; over 5K in the three months before our lovely Wisconsin cooled the fun for a while!