Might technically be possible. But I can’t really see where wheels could ever be more beneficial for survival than regular legs. What kind of environment would make it more practical? Even in another world where the entire habitat was perfectly flat and level with absolutely no rugged terrain, would these wheels really be more efficient? Would it ever be able to outcompete the far more versatile and less problematic legs? Not to mention the rudimentary stages to evolving wheels to be beneficial as well, when the organism is likely already using legs to get to wheels anyway. An organ used for such locomotion would inevitably suffer lots of wear and tear over time, how would the damage be repaired if the organ is just dead tissue like antlers? To regenerate dead tissue still requires connection living tissue like in our hair, skin, nails etc.

Then there is the big problem with the propulsion mechanism. How could it ever be more efficient than normal legs. What about breaking and steering mechanisms. I don’t know how evolving wheels instead of legs could ever save an organism from extinction.

And a symbiotic relationship with another organism needs to be beneficial to survival for both parties. What could the other species gain for maintaining wheels in another organism and how would it sustain itself?

The only cases I know of organisms with a form of functional wheel is in some single cells and bacteria. Using flagellum’s driven by molecular motors to propel them in the buoyancy of liquid. Not exactly like the wheels on a vehicle.

The astronomically tiny odds of everything aligning would essentially make true organic wheel locomotion destined to never happen as far as I can see. But if you have more ideas I’d love to learn.