i was trying to do something like this a while ago:
the group with the wheel physics should be open.. use WASD to control car, if you drive forward there is a row of unattached wheels where you can see how they don't laterally move.
I'm still not sure whether the physics is right, or whether it just needs fine tuning. Things like the collision polygon of the car, and wheel positions affect handling quite a lot.
I was trying to go for a car that you could drift reliably without losing control, but it wasn't really successful