Its one of the things I was considering to add to the VRLever, however I hadn’t bothered yet because, as you already tried, my first inclination would be to use a physics lever for that.
To fix the parenting issue when moving, you either need to attach it to the vehicle with the constraint, or have it constrained to a non simulating component inside of the vehicle which follows along by itself.
i’ll note that its on my feature list for the non physics lever currently, just waylaid behind other things.
Edit I’ll move it up on my TODO list, if I get time today I might take a crack at it.