AFV, Armored Fighting Vehicle, is a good catch all for what you’re talking about.
Tracks are better for off roading in awful terrain and spread the weight of the vehicle out, which is essential for very heavy vehicles.
Wheels are faster on roads and relatively easy terrain, and are easier to repair in the field. Also, they don’t chew up the road like tracks do.
It’s essentially just what the designers choose to go with for that vehicle’s mission. But also alot of vehicles are derivatives and inherit their parent vehicle’s suspension. Like the Stryker MGS which mounted a 105mm tank cannon onto a Stryker, which was originally a light troop transport.
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