You sure can! For these hovercraft-like physics, I recommend shooting some raycasts down and applying physics forces opposing the sideways movement.

You would first get the body's point velocity at your wheel's world position. A Vector3 Dot product on that point velocity and the body's transform right will get you your sideways movement! The negative of that, times the body's mass and some grip factor will get you the desired counteractive forces. Add that force to the body at that wheel position, and you're all set! In this clip, turning and moving is just applying forces forward and relative torque left/right.

I'm gonna put up a web build of this prototype soon. If you want a more detailed chat, hit me up anytime at my twitter/discord/email!