You can do it without a transmission. Build the motor into the wheel hub. But there are some problems – the biggest one is ‘unsprung weight’. The motor in the hub is going to be heavy, and when the wheel hits a bump, it is thrown upwards, and it takes time for the springs to push it back down again, meaning the wheel spends some time in the air. So almost all designs mount the motor to the chassis, and use universal joints or CV joints to drive the wheels.
And once you have that, you gear the drive down so you can use an efficient, light, high speed motor.
Because is also hard to make a motor that drives slow enough. Typical highway speed of a car wheel is well under under 1,000 RPM, and that is really slow for an electric motor. Especially if you want a light, high power one. They spin at 10,000 RPM or higher. In order to get decent torque at that less than 1,000 RPM you need high current, which means thick, heavy copper windings. And a hub mounted motor cannot be heavy.
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