The most logical way to understand the Falcon's drivetrain is to walk through it in the same order that the torque is transferred from the motors to the wheels. The two EV3 large motors (ports B and C) located in the rear of the car provide the power to propel the Falcon. They are hard-coupled, meaning that they are fixed together with a solid axle and always rotate with the same speed and direction.

The two drive motors and most of the drivetrain are visible after removing the EV3 brick: