Many years ago, some high bucks cars (Jaguar, I believe was one of them), developed inboard disc brakes for their IRS rear axles. These brakes, IIRC, were mounted to either side of the banjo housing.
This would allow the banjo housing to be hard mounted to the chassis, becoming sprung weight. The swing axle assemblies were then unsprung weight, and the figures of sprung/unspring were improved a bit.
Does anyone else remember this? Were these systems ever in large scale production?
It occurred to me that if this sort of system were worth developing, somebody would have.
In a typical modern FWD system, inboard discs would be possible on the transmission side of the halfshafts, and a rear swing axle with sprung disc assemblies would also be possible.
This is just a thought provoker. I imagine such a system either doesn't offer the advantages hoped for in the past, or is just too expensive or undependable to implement.