I have been told it was bodygyro is what I am looking for and a script to run the wheels. I did some searching on bodygyro but it doesn't seem like it would work unless I had it explained to me.
The reason why I am looking is because the natural way usually causes glitches in all the parts for a car.

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This isn't an exact answer, but if you're making a proper car in a professional game, you might want to make the char not a ROBLOX physics vehicle at all and only make the wheels aesthetical and animated, and use controls and BodyMovers for movement.