This example uses SOuP's rayProject node to figure out the tyre's collision with the ground. Difference in Y axis is used as the displacement value for the wheel in Y. The wheel is animated only in 1 axis and rotation is keyed as well. The setup is completely procedural including the provision to add multiple meshes for contact (the cylinder, slopes, bumpy ground are all separate mesh objects).

Check this page for the Maya file - soup-dev.websitetoolbox.com/post/Example-rayProject-Tyre-Contact-6412740

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