A picture of the very incomplete gantry as it currently is, to give a better idea of what I'm up to: < > The only other way to get wheels to turn is either roll them freely unbound to anything, or attach them to a rotor. You can adjust the suspension settings to make them ridged, and you can use vertically oriented suspensions to prevent side wobble as if it was on rails. Wheels lack any form of propulsion on their own. They also lack any form of innate rotation ability. They're just cylindrical objects, exactly as they are in the real world (try welding a wheel directly to something sometime and see how well it spins). You need to provide an axle to them, and propulsion should you require it as well.
This was clearly made by someone who has never had to get two carburetors to work simultaneously or two flutists.

All told, we’re very happy with the results of our suspension and wheel upgrades. Yes, the changes have affected range, so the more range anxious e-tron owner may wish to steer clear.
Both modeling and experimental results demonstrate several realistic scenarios in which wheel hubs experience accelerations greater than 100g, sometimes at very low vehicle speeds. This paper focuses on the experimental determination of suitable design goals for in-hub motors (wheel motors), describing the experimental test rig, experiment procedures, and experimental results from testing conducted at UT-CEM. The paper also discusses implications of these results on wheel motor design, leading to the conclusion that a realizable and feasible design goal for a combat vehicle wheel motor shock rating is 150 g's, with a 10 to 20 ms pulse width.