  We generalize our work on Carlitz prime power torsion extension to torsion
extensions of Drinfeld modules of arbitrary rank. As in the Carlitz case, we
give a description of these extensions in terms of evaluations of Anderson
generating functions and their hyperderivatives at roots of unity. We also give
a direct proof that the image of the Galois representation attached to the
$\mathfrak{p}$-adic Tate module lies in the $\mathfrak{p}$-adic points of the
motivic Galois group. This is a generalization of the corresponding result of
Chang and Papanikolas for the $t$-adic case.
