Perhaps at low speeds you should switch to rigid body simulation, though I'm not an expert in this at all. AFAIK you need a low-speed approach and a high-speed approach (I guess you already have this), because no single method works for all situations. Rigid body physics would fail at high speeds a…

Thanks for your reply ?

Looks like what I have is a decent approach after all, then. I've settled on the first method described, with some basic processing for loads, longitudinal slip and some dampening for low speeds, which works great.

I might look into implementing the Pacejka tire formula as tha…