I've so felt the same way! Using Unity terrain with uPhysics aint a problem. Technically, terrain mesh and terrain collider are two different things. uPhysics just uses the terrain to generate the collider so there wont be a problem to use it for you. Ah yea! Now I understood. However, this can already be solved by using multiple rays OR a simple shape cast. Infact a shapecast will do the same thing as a simple cylinder collider but being cheaper in most cases. However, I will make sure and implement all three types so everyone should be satisfied. Thats another topic I should really focus on. With the standard WheelCollider implementation you normally dont get this behaviour. However, Im sure I'll be able to integrate a constraint setup for WheelColliders, either thightly integrated into it or as a general component based setup procedure. However, this might need a bit more time since it'll need me to integrate Featherstone with the current solver. Featherstone is definitely on my roadmap especially since its aswell required for proper rope physics (incoming aswell) but im not yet sure if it'll make it into v2.2. Cheers!