diff --git a/docs/en/complete_vehicles_rover/index.md b/docs/en/complete_vehicles_rover/index.md
index 50dd43ac9d..1bd34f909f 100644
--- a/docs/en/complete_vehicles_rover/index.md
+++ b/docs/en/complete_vehicles_rover/index.md
@@ -2,4 +2,4 @@
 
 This section contains information about fully assembled vehicles that use PX4:
 
-1. [Aion Robotics R1 UGV (Differential Rover)](aion_r1.md)
+1. [Aion Robotics R1 UGV (Differential Rover)](../complete_vehicles_rover/aion_r1.md)
diff --git a/docs/en/concept/flight_modes.md b/docs/en/concept/flight_modes.md
index d28a8e14bc..c90ca667ef 100644
--- a/docs/en/concept/flight_modes.md
+++ b/docs/en/concept/flight_modes.md
@@ -18,8 +18,7 @@ Mode documentation for the PX4 internal modes are listed below:
 - [Flight Modes (Multicopter)](../flight_modes_mc/index.md)
 - [Flight Modes (Fixed-Wing)](../flight_modes_fw/index.md)
 - [Flight Modes (VTOL)](../flight_modes_vtol/index.md)
-- [Drive Modes (Differential Rover)](../flight_modes_rover/differential.md)
-- [Drive Modes (Ackermann Rover)](../flight_modes_rover/ackermann.md)
+- [Drive Modes (Rover)](../flight_modes_rover/index.md)
 - [Basic Configuration > Flight Modes](../config/flight_mode.md)
 
 ## Internal vs External Modes
diff --git a/docs/en/flight_modes/index.md b/docs/en/flight_modes/index.md
index f34efb5989..32bc18bce6 100644
--- a/docs/en/flight_modes/index.md
+++ b/docs/en/flight_modes/index.md
@@ -7,8 +7,7 @@ For information about flight modes available to specific frames see the followin
 - [Flight Modes (Multicopter)](../flight_modes_mc/index.md)
 - [Flight Modes (Fixed-Wing)](../flight_modes_fw/index.md)
 - [Flight Modes (VTOL)](../flight_modes_vtol/index.md)
-- [Drive Modes (Differential Rover)](../flight_modes_rover/differential.md)
-- [Drive Modes (Ackermann Rover)](../flight_modes_rover/ackermann.md)
+- [Drive Modes (Rover)](../flight_modes_rover/index.md)
 
 ::: info
 The mode sub-topics in this section contain information that is common to all vehicles, but may not be relevant to the normal/default setup.
diff --git a/docs/en/flight_modes_fw/index.md b/docs/en/flight_modes_fw/index.md
index 8c59d1d4d6..6e47688841 100644
--- a/docs/en/flight_modes_fw/index.md
+++ b/docs/en/flight_modes_fw/index.md
@@ -55,5 +55,4 @@ Select the mode-specific sidebar topics for detailed technical information.
 - [Basic Configuration > Flight Modes](../config/flight_mode.md) - How to map RC control switches to specific flight modes
 - [Flight Modes (Multicopter)](../flight_modes_mc/index.md)
 - [Flight Modes (VTOL)](../flight_modes_vtol/index.md)
-- [Drive Modes (Differential Rover)](../flight_modes_rover/differential.md)
-- [Drive Modes (Ackermann Rover)](../flight_modes_rover/ackermann.md)
\ No newline at end of file
+- [Drive Modes (Rover)](../flight_modes_rover/index.md)
\ No newline at end of file
diff --git a/docs/en/flight_modes_mc/index.md b/docs/en/flight_modes_mc/index.md
index 518f080400..031c8b85ad 100644
--- a/docs/en/flight_modes_mc/index.md
+++ b/docs/en/flight_modes_mc/index.md
@@ -53,5 +53,5 @@ Select the mode-specific sidebar topics for more detailed technical information.
 - [Basic Configuration > Flight Modes](../config/flight_mode.md) - How to map RC control switches to specific flight modes
 - [Flight Modes (Fixed-Wing)](../flight_modes_fw/index.md)
 - [Flight Modes (VTOL)](../flight_modes_vtol/index.md)
-- [Drive Modes (Differential Rover)](../flight_modes_rover/differential.md)
-- [Drive Modes (Ackermann Rover)](../flight_modes_rover/ackermann.md)
+- [Drive Modes (Rover)](../flight_modes_rover/index.md)
+
diff --git a/docs/en/flight_modes_rover/auto.md b/docs/en/flight_modes_rover/auto.md
index 214e762deb..937ae0d44d 100644
--- a/docs/en/flight_modes_rover/auto.md
+++ b/docs/en/flight_modes_rover/auto.md
@@ -2,7 +2,7 @@
 
 In auto modes the autopilot takes over control of the vehicle to run missions, return to launch, or perform other autonomous navigation tasks.
 
-To use auto modes **all** the configuration/tuning steps in [Rover Configuration/Tuning](../config_rover/index.md) must be followed (from [Basic Setup](../config_rover/basic_setup.html) to [Position tuning](../config_rover/position_tuning.md)).
+To use auto modes **all** the configuration/tuning steps in [Rover Configuration/Tuning](../config_rover/index.md) must be followed (from [Basic Setup](../config_rover/basic_setup.md) to [Position tuning](../config_rover/position_tuning.md)).
 
 ## Mission Mode
 
diff --git a/docs/en/frames_rover/rover_position_control.md b/docs/en/frames_rover/rover_position_control.md
index dcfbd06337..e69ea72403 100644
--- a/docs/en/frames_rover/rover_position_control.md
+++ b/docs/en/frames_rover/rover_position_control.md
@@ -4,7 +4,7 @@
 
 ::: warning
 This information applies to the original generic rover module that was derived from the fixed wing controller.
-It has been replaced with new modules for [Ackermann](../frames_rover/ackermann.md) and [Differential-steering](../frames_rover/differential.md) rovers.
+It has been replaced with new modules for [Ackermann](../frames_rover/index.md#ackermann) and [Differential-steering](../frames_rover/index.md#differential) rovers.
 This module is no longer supported and will receive no updates.
 :::
 
diff --git a/docs/en/getting_started/px4_basic_concepts.md b/docs/en/getting_started/px4_basic_concepts.md
index 70c90c3a3e..4961252207 100644
--- a/docs/en/getting_started/px4_basic_concepts.md
+++ b/docs/en/getting_started/px4_basic_concepts.md
@@ -333,8 +333,7 @@ An overview of the flight modes implemented within PX4 for each vehicle can be f
 - [Flight Modes (Multicopter)](../flight_modes_mc/index.md)
 - [Flight Modes (Fixed-Wing)](../flight_modes_fw/index.md)
 - [Flight Modes (VTOL)](../flight_modes_vtol/index.md)
-- [Drive Modes (Differential Rover)](../flight_modes_rover/differential.md)
-- [Drive Modes (Ackermann Rover)](../flight_modes_rover/ackermann.md)
+- [Drive Modes (Rover)](../flight_modes_rover/index.md)
 
 Instructions for how to set up your remote control switches to enable different flight modes is provided in [Flight Mode Configuration](../config/flight_mode.md).
 
diff --git a/docs/en/releases/1.15.md b/docs/en/releases/1.15.md
index 9cef260845..39e36c8ec5 100644
--- a/docs/en/releases/1.15.md
+++ b/docs/en/releases/1.15.md
@@ -204,7 +204,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
 
 ### Rover
 
-- [Aion R1](../frames_rover/aion_r1.md)<Badge type="warning" text="Experimental"/>: ESC Driver for Roboclaw motor controller.
+- [Aion R1](../complete_vehicles_rover/aion_r1.md)<Badge type="warning" text="Experimental"/>: ESC Driver for Roboclaw motor controller.
   This comes with build instructions and support for the Aion R1, a new differential drive rover, along with information about integrating the Roboclaw motor controller.
 - Add dedicated Rover build variants to px4/fmu-{v5,v5x,v6c,v6x} ([PX4-Autopilot#22675](https://github.com/PX4/PX4-Autopilot/pull/22675))
 
diff --git a/docs/en/releases/1.16.md b/docs/en/releases/1.16.md
index 9e293b6e62..3e87522395 100644
--- a/docs/en/releases/1.16.md
+++ b/docs/en/releases/1.16.md
@@ -168,12 +168,12 @@ This release contains a major rework for the rover support in PX4:
 
 - Complete restructure of the [rover related documentation](../frames_rover/index.md).
 - New firmware build specifically for [rovers](../frames_rover/index.md#flashing-the-rover-build).
-- New module dedicated to [Ackermann rovers](../frames_rover/ackermann.md):
-  - The module currently supports [manual mode](../flight_modes_rover/ackermann.md#manual-mode), [acro mode](../flight_modes_rover/ackermann.md#acro-mode), [position mode](../flight_modes_rover/ackermann.md#position-mode) and [auto modes](../flight_modes_rover/ackermann.md#auto-modes).
-- New module dedicated to [differential rovers](../frames_rover/differential.md):
-  - The module currently supports [manual mode](../flight_modes_rover/differential.md#manual-mode), [acro mode](../flight_modes_rover/differential.md#acro-mode), [stabilized mode](../flight_modes_rover/differential.md#stabilized-mode), [position mode](../flight_modes_rover/differential.md#position-mode) and [auto modes](../flight_modes_rover/differential.md#auto-modes).
-- New module dedicated to [mecanum rovers](../frames_rover/mecanum.md):
-  - The module currently supports [manual mode](../flight_modes_rover/mecanum.md#manual-mode), [acro mode](../flight_modes_rover/mecanum.md#acro-mode), [stabilized mode](../flight_modes_rover/mecanum.md#stabilized-mode), [position mode](../flight_modes_rover/mecanum.md#position-mode) and [auto modes](../flight_modes_rover/mecanum.md#auto-modes).
+- New module dedicated to [Ackermann rovers](../frames_rover/index.md#ackermann):
+  - The module currently supports [manual mode](../flight_modes_rover/manual.md#manual-mode), [acro mode](../flight_modes_rover/manual.md#acro-mode), [stabilized mode](../flight_modes_rover/manual.md#stabilized-mode), [position mode](../flight_modes_rover/manual.md#position-mode) and [auto modes](../flight_modes_rover/auto.md).
+- New module dedicated to [differential rovers](../frames_rover/index.md#differential):
+  - The module currently supports [manual mode](../flight_modes_rover/manual.md#manual-mode), [acro mode](../flight_modes_rover/manual.md#acro-mode), [stabilized mode](../flight_modes_rover/manual.md#stabilized-mode), [position mode](../flight_modes_rover/manual.md#position-mode) and [auto modes](../flight_modes_rover/auto.md). 
+- New module dedicated to [mecanum rovers](../frames_rover/index.md#mecanum):
+  - The module currently supports [manual mode](../flight_modes_rover/manual.md#manual-mode), [acro mode](../flight_modes_rover/manual.md#acro-mode), [stabilized mode](../flight_modes_rover/manual.md#stabilized-mode), [position mode](../flight_modes_rover/manual.md#position-mode) and [auto modes](../flight_modes_rover/auto.md). 
 - Added rover-specific firmware build (`50000–52000`) for Ackermann, differential and mecanum rovers
 - Restructure of the [rover airframe](../airframes/airframe_reference.md#rover) numbering convention ([PX4-Autopilot#23506](https://github.com/PX4/PX4-Autopilot/pull/23506)).
   This also introduces several [new rover airframes](../airframes/airframe_reference.md#rover):
@@ -181,7 +181,7 @@ This release contains a major rework for the rover support in PX4:
   - Generic Ackermann Rover `51000`.
   - Axial SCX10 2 Trail Honcho `51001`.
   - Generic Mecanum Rover `52000`.
-- Library for the [pure pursuit guidance algorithm](../config_rover/differential.md#pure-pursuit-guidance-logic) that is shared by all the rover modules.
+- Library for the [pure pursuit guidance algorithm](../config_rover/position_tuning.md#pure-pursuit-guidance-logic-info-only) that is shared by all the rover modules.
 - [Simulation](../frames_rover/index.md#simulation) for differential-steering and Ackermann rovers in gazebo (for release notes see `r1_rover` and `rover_ackermann` in [simulation](#simulation)).
 - Deprecation of the [rover position control](../frames_rover/rover_position_control.md) module: Note that the legacy rover module still exists but has been superseded by the new dedicated modules.
 
diff --git a/docs/en/sim_gazebo_gz/vehicles.md b/docs/en/sim_gazebo_gz/vehicles.md
index d4ccda3a4b..679aec83ff 100644
--- a/docs/en/sim_gazebo_gz/vehicles.md
+++ b/docs/en/sim_gazebo_gz/vehicles.md
@@ -182,7 +182,7 @@ make px4_sitl gz_tiltrotor
 
 ### Differential Rover
 
-[Differential Rover](../frames_rover/differential.md) uses the [rover world](../sim_gazebo_gz/worlds.md#rover) by default.
+[Differential Rover](../frames_rover/index.md#differential) uses the [rover world](../sim_gazebo_gz/worlds.md#rover) by default.
 
 ```sh
 make px4_sitl gz_r1_rover
@@ -192,7 +192,7 @@ make px4_sitl gz_r1_rover
 
 ### Ackermann Rover
 
-[Ackermann Rover](../frames_rover/ackermann.md) uses the [rover world](../sim_gazebo_gz/worlds.md#rover) by default.
+[Ackermann Rover](../frames_rover/index.md#ackermann) uses the [rover world](../sim_gazebo_gz/worlds.md#rover) by default.
 
 ```sh
 make px4_sitl gz_rover_ackermann
diff --git a/docs/en/sim_gazebo_gz/worlds.md b/docs/en/sim_gazebo_gz/worlds.md
index 7f0c4821c4..5f72e222b2 100644
--- a/docs/en/sim_gazebo_gz/worlds.md
+++ b/docs/en/sim_gazebo_gz/worlds.md
@@ -45,7 +45,7 @@ It is not recommended as the low frame rate causes segmentation faults on some f
 
 ## Rover
 
-Rover world is optimised for rovers (and will be further optimised for rovers) and is the default world for [Ackermann Rover (4012)](../frames_rover/ackermann.md) (`make px4_sitl gz_rover_ackermann`) and [Differential Rover ((r1-rover (4009))](../frames_rover/differential.md) (`make px4_sitl gz_r1_rover`).
+Rover world is optimised for rovers (and will be further optimised for rovers) and is the default world for [Ackermann Rover (4012)](../frames_rover/index.md#ackermann) (`make px4_sitl gz_rover_ackermann`) and [Differential Rover ((r1-rover (4009))](../frames_rover/index.md#differential) (`make px4_sitl gz_r1_rover`).
 
 [PX4-gazebo-models/main/worlds/rover.sdf](https://github.com/PX4/PX4-gazebo-models/blob/main/worlds/rover.sdf)