Looking forward to see what you come up with! I really liked the detailed explanation of the physics that you did. Very good explanation. Are you going to elaborate on the new wheel model you created in the future? I'm working on some vehicle physics myself and would really love to know how you solved sliding on slopes and getting the surface normal like you said in this post.
Sorry it's late, but I wrote about stopping the sliding on slopes, as promised.
https://lupine-vidya.itch.io/gdsim/devlog/677607/tires-at-rest-a-deceptive-solut...