Hello all, this is my first forum post and I guess it doesn't hurt to ask for help here. I'm an engineering student working on a simulation-based project using Unity and MATLAB. I have to implement several autonomous vehicles in Unity and connect with MATLAB/Simulink to perform control and generation of setpoints, etc. So far, I've had success in implementing a quadcopter and an underwater vehicle and the LQR/PID controllers work really well in Unity. However, I haven't got it to connect to MATLAB so far, the controllers were implemented in Unity itself but that's an issue for another day. I have 3 remaining systems left, a rover, a quadrupled robot, and a self-landing rocket. I'm currently working on the rover which is supposed to operate similarly to how the real Perseverance rover does. See the RB.PNG attachment which shows the closest I could get to some satisfactory result. Besides the body, which is the parent rigid body, the left and right rockers, bogies, 4 steering controllers, and the 6 wheels are child rigid bodies and are connected together with configurable joints. I did not use WheelColliders for the wheels, they are just rigid bodies which surprisingly moves the whole rover by applying torque to the wheels. No issues encountered here but when I start changing the front and back wheel angles for steering, the whole system just becomes unstable and does not turn as expected. I think it has to do with the center of mass of the parent and the colliders (See Colliders.PNG), which I had to modify for the rocker-bogie to "work" to some extent. Another issue is that this system basically does not work at physics time steps smaller than the default (0.02), but I need to standardize of all of systems to work at 0.01 since the controllers for the drone and UAV only start working with that setting. I know I probably need to send more info, but I don't want to make this starting post any longer than it needs to be. Any suggestions?