Perhaps at low speeds you should switch to rigid body simulation, though I'm not an expert in this at all. AFAIK you need a low-speed approach and a high-speed approach (I guess you already have this), because no single method works for all situations. Rigid body physics would fail at high speeds a…

SiriusT987 said:
do split the input torque from the engine into two equal parts, but that’s it,

So, that's a locked differential ?
Your suspension values seem ok, but the damping could be higher, and don't forget that stiff rear suspension causes oversteer.
Also it's worth considering to separate the b…