A more realistic wheel behavior method

Hi everyone! I’m developing an off-road vehicle game and have run into an issue with the wheels.
In the wheel Blueprint class I created, the raycast method didn’t work for me, so I switched to a sphere-cast method. However, I’ve encountered a problem: when the wheel passes near an object with collision, the sphere clips the object and causes the vehicle to jolt. Is there a way to swap the sphere-cast for a cylinder-cast, or use some other method?