I tried it also, but I've got no improvement. I've spend the entire afternoon messing around with the code and still no luck. I did get the weird rotation at one point so worse that it looked like my car was doing some sort of dance. I did find out that when you make the wheels rotate slower and less far the problem gets less. But for the race game I want to create I need to make sharp and fast turns, so this is not a good solution.