How can i create script for wheels,using "AddTorque"

I have this so far :

using System.Collections.Generic;
using UnityEngine;

public class WheelController : MonoBehaviour
{
    public Rigidbody[] _rigidbody;
    public float torqMulti;

    private void Update()
    {
        A();
        D();
        W();
        S();
    }

    void A()
    {
        if (Input.GetKey(KeyCode.A))
        {
            _rigidbody[0].AddTorque(transform.up * torqMulti);
        }
    }
    void D()
    {
        if (Input.GetKey(KeyCode.D))
        {
            _rigidbody[0].AddTorque(-transform.up * torqMulti);
        }
    }

    void W()
    {
        if (Input.GetKey(KeyCode.W))
        {
            foreach (Rigidbody rb in _rigidbody)
            {
                rb.AddTorque(transform.forward * torqMulti);
            }
        }
    }
    void S()
    {
        if (Input.GetKey(KeyCode.S))
        {
            foreach (Rigidbody rb in _rigidbody)
            {
                rb.AddTorque(-transform.forward * torqMulti);
            }
        }
    }
}

But it works kinda weird,here’s video : https://youtu.be/8qhqi5mi-xI
Also,can someone help how i can connect wheels with car? I know that i need to use joints,but.