A vehicle track module having a frame, the module mountable on a rotatable axle of a vehicle and having a drive wheel rotatably mounted to the frame, leading and trailing idler wheels rotatably mounted to the frame, at least one bogie wheel in contact with the track and positioned between the idler wheels, and a continuous flexible track extending about the wheels, and the at least one bogie wheel is a cylindrical wheel with a tapered elastomeric tire therearound. The track module may include a module center plane parallel to the drive wheel and the bogie wheel may be thicker toward the center plane. A track assembly for a vehicle including a frame for mounting with respect to the vehicle and a plurality of wheels in contact with a continuous flexible track extending about the wheels with at least one wheel being cylindrical and including a tapered elastomeric tire.