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Why do wheel colliders make vehicle not move in a straight line?

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Two things really: 1) Every vehicle I've created that is powered by its wheel colliders (by using their motor torque properties) does not move in a straight line. It's as if one wheel is rotating faster than the other, making the vehicle turn left or right even though both sides have wheels in exact opposite places with equal motor torque being applied on both sides. 2) As a work around I've just been using addForce to the rigidbody of the car rather than using motor torque. Perhaps because of this, or maybe in spite of it, I can't seem to get any friction on the wheel colliders. No matter what values I set in the wheel friction curves, it feels like I'm driving on ice. I would have thought with high forward friction stiffness my car would slow over time (like with force) and not slide down slopes so easily. Any help on either topic would be welcome, I've hunted around online for a solution but it seems nobody else has ever had this problem! In case it helps, what I'm ultimately aiming for is a slow moving vehicle with strong grip that will slow down to a standstill almost immediately after releasing the accelerator and will not slide down mountains unless very steep.

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