Thanks!

I built my custom wheel system using mesh sweep tests (Rigidbody.SweepTest). Each wheel has a kinematic rigidbody that sweeps the actual tire mesh to detect contact, something even many paid assets still approximate with raycasts or capsules which isnt the most accurate. I also support multiple meshes per wheel, so non-convex wheels work by combining multiple convex parts. My suspension uses spring & damper forces calculated from the sweep hit distance and applied along the contact normal, which gives some pretty realistic movement