@0lento Not trying to pick a fight either just peacefully discussing some pros and cons. I understand the point you’re trying to make and I agree that constraint based vehicles are not very good. but implementing a trace based vehicle class from scratch can be very expensive in terms of time and resources. we can easily attach a trailer to this and it works while the vehicle class… well you known. do you know some other readily available solution out there you recommend? Also could you elaborate on what I should expect if I go with this approach? the hitting rough terrain at high speed problem you mentioned did not happen on my tests (and I tried it on mountainous terrain at 180km/h)…of course hitting a 5cm flat curb at 50km/h didn’t went so well lol