Spur gears and epicyclic gears can be assembled by means of 4 mm shafts.
You can download ZARXP Demo to create your own spur gears as STL file (restricted to module 2 mm).
WN2: external involute spline W15 x 2 x 6 x 11a - DIN 5480 (31 kB) | internal involute spline N15 x 2 x 6 x 11F - DIN 5480 (40 kB)
WN4: External involute spline to ANSI B92.1b, 30 deg, fillet root side fit, 16/32, 7 teeth, class 7d (47 kB) | Internal involute spline to ANSI B92.1b, 30 deg, fillet root side fit, 16/32, 7 teeth, class 7H (55 kB)
WN6 (P3G): P3G shaft DIN 32711 - A 14 a9 (75 kB) | P3G hub DIN 32711 - B14 H7 (85 kB)
WN7 (P4C): P4C shaft DIN 32712 - A 20 e8 (14 kB) | P4C hub DIN 32712 - B 20 H7 (30 kB)
WN8 (Serration): serration shaft DIN 5481 -10 x 12 (83 kB) | serration hub DIN 5481 - 10 x 12 (89 kB)
WN9 (Straight splined): straight splined shaft 6 x 11 x 14 DIN ISO 14 (12 kB) | splined hub 6 x 11 x 14 DIN ISO 14 (20 kB)