Best way to make Vehicle wheels turn?

So I am trying to make a car chassis but I don't want to use VehicleSeats to do it. They aren't perfect and just overall aren't the best solution. What are some better ways to use scripting to make vehicle wheels turn?

One method I can think of is rotating the wheels via making a loop that continuously loops Part. RightParamA. Another that I'm trying to figure out right now is using BodyAngularVelocity to do it. So far I have been unsuccessful though as it rotates relative to the global axis.

Does anyone know how to use BodyAngularVelocity to do it or any other methods?