Simulating Robot Wheels

Hello everyone,

I'm trying to create a navigation simulation for a 4-wheeled robot but I'm getting stuck on how to approach setting up the wheels. Ideally, I'd like to simulate as closely to reality as possible, so I'd like to be able to specify a torque on each wheel that causes it to rotate. So far, I've tried mostly wheel colliders, but I've played with putting rigid bodies on each wheel with a high friction physic material (without much luck).

Rotating the front wheels to create what the wheel collider calls a "steer angle" isn't an option for the physical robot, so I don't plan to use that in the simulation. To make the robot turn, I put more torque on the wheels on one side so they run faster than the wheels on the other. Unfortunately, this causes the robot to jitter quite a bit, and the object doesn't turn as quickly as I would expect (even when difference in torque is very large).

I get the feeling that this isn't what the wheel collider is intended to be used for... Does anyone have any advice as to how I would either resolve the issue with the wheel collider, or maybe a more clever way to achieve behavior I'm looking for?

Thanks in advance!