Hinge Joint as an axle

I am attempting to use hinge joints to connect tires to a body, it works decently, but the wheels end up getting pulled off of the axis when turning. The wheels axis isn’t supposed to move like in a car, instead the wheels just turn in different directions. (Think like tank controls)

Is there anything I can do to fix this?

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I attached a gif which will probably illustrate the problem better than my words. Ignore the artifacts.

Thanks for any help anyone can offer

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Anyone got any advice?

This is really annoying me

If your Wheels have a rigidbody, you could freeze every rotation, except for the one that you need.

But then the vehicle won’t be able to tip over, etc.

I definitely need that for what I am working on.

Any help?

I would try making a Physic material and play with the friction values. You could also increase the physics iterations to get some more accurate calculations.