A tire is not a rigid body
Wednesday, April 20th, 2016I don’t know how many times I had this discussion so I’ll just write it here once.
No, you do not get the most realistic vehicles using vanilla rigid bodies + joints, and it is pointless to implement the Coulomb friction model perfectly because it is only a model, and it does not work well for tires.
See here for example.
You need to use a dedicated vehicle SDK, like the one in PhysX. Using perfect rigid bodies and joints, with a perfect solver, implementing perfect Coulomb friction, will not give you a perfect car simulation.