The physics of cars and terranes was always great.
Perhaps you just change the tyre model every so often.
The mass must act on the wheel. And the wheel slightly to settle slightly
Sounds complex. Generally a forum is not going to provide the depth of information for this task. So, I doubt you will be helped with this problem here. You may want to seek an asset or hire someone. I removed your entirely useless poll as well since it was gibberish, and I assume a mistake.