Well basically I’ve come up to a dead end at the moment, all attempts to fix the wheel on wheel contact have failed. This is due to the fact that attempting to do anything with the eKinematic response for the rigid bodies crashes the system due to a weird Memory error. Somehow it knows that the rigid body is kinematic but attempting to react to that deletes the rigid body from memory and crashes the system. PhysX is quite a complicated system so diagnosing why this is the case feels a little beyond me at the moment. I’ll keep working on it here and there but this kind of error really killed my motivation for doing so. I prefer to spend my time working on things that are fun, of which this is not. So hopefully PhysX 3.4 comes out some time soon and it gets fixed as a by-product. As it stands now, I’m making a vehicle using constraints, but that comes with it’s own list of issues.