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The samurai has a divorced t-case with an intermediate shaft.
So you can use a sidekick/tracker 2wd tranny and motor.
The 4wd tracker/sidekick has the t-case attached to the tranny and will not work with a samurai t-case without some major mods.

IIRC The tracker/sidekick tranny is geared a bit lower. A swap used to me on Offroad.com in the suzuki section. I plan to swap a 2wd motor and tranny into my suzuki later this year.
 
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