A worm gear assembly may include an input shaft having a first and second screw formed axially thereon, a first torque transfer unit comprising a first worm wheel operatively coupled to the first worm screw, a first radial pinion coaxially affixed to the first worm wheel, and a first axial crown wheel operatively coupled to the first radial pinion, and a second torque transfer unit comprising a second worm wheel operatively coupled to the second worm screw, a second radial pinion coaxially affixed to the second worm wheel, and a second axial crown wheel operatively coupled to the second radial pinion, wherein the first radial pinion is in meshed interface with the second radial pinion, and wherein torque differences between the first axial crown wheel and the second axial crown wheel are transmitted at least in part through said meshed interface.