Whatever new design might be created would need to be as efficient as the current technology in use. A toothed drive belt formed as a mobius strip to equalise wear could be a solution. Such belts have been used in industry for years transporting mine waste and other heavy objects. The main issue is the join between the ends of the belt creates a weak spot that is prone to failure. It might be possible to eliminate the join by using 3D printing type fabrication, so the belt is formed with a half turn in one continuous piece. The advantage here is that drivebelts can provide changes of direction and gearing within a single unit.
In order to avoid inefficiency it is necessary to reduce any slippage or backlash in the drivetrain to as close to zero as possible. Electrical and hydraulic systems perform at a disadvantage compared to direct mechanical connection through gearing or toothed belts. Chain drives can be very efficient but the complexity of the links and multiple potential failure points make them unsuitable for this task.