Chaos vehicle + physics substepping = glitchy physics

Hi, I have a chaos vehicle project (4.27-chaos), and the physics is unfortunately framerate dependant. I’ve read that turning on physics substepping might help on this problem on lower framerates, but in my case it starts acting very weird: the car going very slow, or accelerates very fast, car slips away, regardless of turning, the collision explodes out the car from the map, etc…
I’ve tried different max delta times, and different max substeps, some were better, but the glitches remain, no matter what. I also tried limit the framerate, and limit it with smooth framerate as well. the glitches only goes away completely when turning off physics substeps.

Any idea how to do physics substeps without glitches?
Many thanks for any help.

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