You do not want to go the route of simulated tracks.
Another “tracked vehicle” example is this one.
You could call the front one a sprocket and the rear an idler.
The inbetween wheels have almost 0 suspension travel, and the contact point if that front sprocket is at the same hight as the middle smaller “road wheels”
What is the best way to implement that in the current script…? since the sprocket and idler have no collision with ground at the moment.