A vehicle suspension system (55) is configured so as to contain all of the suspension motion control elements completely within the volume of the road wheel (100) while remotely locating the energy storage device (45) and damping device (42). An upright (60) comprises the spindle (61), brake caliper (105), and structure to hold a main strut shaft (70) parallel to a secondary strut shaft (67). The suspension's motion is controlled by the shafts which slide relative to the sprung part of the vehicle (1). The main strut shaft (70) includes a pumping piston (73). The fluid (91) displaced by the pumping piston (73) flows through a hydraulic connection (47) to a remote suspension module (40) mounted to the sprung part of the vehicle. The remote suspension module (40) hydraulically transmits the wheel motion to the remote energy storage device (45) and damping device (42). A steering arm (95) rotating around the main strut shaft (70) is configured to allow both struts (70 and 67) to slide through it, thus eliminating bump steer.