Make it hirachical:

Create an Physics object, that
handles the physics of the car.

This can be a simple shape resembling your car.
Look up Tutorial and example about how to make the car
run in the physics engine.

Now: make this Physics object invisible!

It serves as your "collision" Masterobject,
and handles all the stuff you need for moving the car in
the world using physics.

Then create the actual car (which is passable / does not have
physics) - all mdl models.
Its is the actual model that is beeing rendered.

This car-frame looks up every frame the position and angles of
the physics object, and sets it values to it.

To have animated elements, do the same for all moving objects
like doors, lights.
(you could integrate doors as animation of the carframe, or
use an extra model) Whatever works better for you.


important is, that the position and angles (pan etc)
is set by the physics "master-object".

This way you simplify the physics a lot, while
having no limits on the complexity about how
your car looks, and animates small elements.