Help with roblox physics-based chassis

Help and Feedback Scripting Support
1

Hey guys, basically my issue is my chassis seems to be getting caught? Im not sure, the turning is acting weird and im not sure how to fix it. Is my only option making a stricter script-based-chassis? If anybody could help me figure out why its acting weird that would be awesome.

Ive dropped my script below. I did have AI set up the values because I wasnt sure what they should be.

local RunService = game:GetService("RunService")

local car = script.Parent
local driveSeat = car:WaitForChild("DriveSeat")
local leftMotor = car:WaitForChild("LeftMotor")
local rightMotor = car:WaitForChild("RightMotor")
local leftServo = car:WaitForChild("LeftServo")
local rightServo = car:WaitForChild("RightServo")

local MAX_SPEED = 35
local ACCELERATION_RATE = 12
local DECELERATION_RATE = 28
local LEFT_MOTOR_DIRECTION = -1
local RIGHT_MOTOR_DIRECTION = 1

local LOW_SPEED_STEER = 32
local HIGH_SPEED_STEER = 32
local STEERING_SPEED_REFERENCE = 45
local STEER_INPUT_SMOOTHNESS = 9
local MAX_STEER_CHANGE_PER_SECOND = 90
local LEFT_STEER_DIRECTION = 1
local RIGHT_STEER_DIRECTION = 1

local currentMotorSpeed = 0
local targetMotorSpeed = 0

local currentSteerInput = 0
local targetSteerInput = 0
local currentSteerAngle = 0

local function configureMotor(motor)
	motor.ActuatorType = Enum.ActuatorType.Motor
	motor.MotorMaxTorque = 150000
	motor.MotorMaxAcceleration = 80
end

local function configureServo(servo)
	servo.ActuatorType = Enum.ActuatorType.Servo
	servo.AngularSpeed = 6
	servo.AngularResponsiveness = 25
	servo.ServoMaxTorque = 250000
end

configureMotor(leftMotor)
configureMotor(rightMotor)

configureServo(leftServo)
configureServo(rightServo)

local function moveToward(currentValue, targetValue, maximumChange)
	if currentValue < targetValue then
		return math.min(currentValue + maximumChange, targetValue)
	elseif currentValue > targetValue then
		return math.max(currentValue - maximumChange, targetValue)
	end

	return currentValue
end

local function updateThrottleInput()
	targetMotorSpeed = MAX_SPEED * driveSeat.ThrottleFloat
end

local function updateSteeringInput()
	targetSteerInput = driveSeat.SteerFloat
end

driveSeat:GetPropertyChangedSignal("ThrottleFloat"):Connect(updateThrottleInput)
driveSeat:GetPropertyChangedSignal("SteerFloat"):Connect(updateSteeringInput)

RunService.Heartbeat:Connect(function(deltaTime)
	local speedChangeRate

	if math.abs(targetMotorSpeed) > math.abs(currentMotorSpeed) then
		speedChangeRate = ACCELERATION_RATE
	else
		speedChangeRate = DECELERATION_RATE
	end

	currentMotorSpeed = moveToward(
		currentMotorSpeed,
		targetMotorSpeed,
		speedChangeRate * deltaTime
	)

	leftMotor.AngularVelocity = currentMotorSpeed * LEFT_MOTOR_DIRECTION
	rightMotor.AngularVelocity = currentMotorSpeed * RIGHT_MOTOR_DIRECTION

	local steerAlpha = 1 - math.exp(-STEER_INPUT_SMOOTHNESS * deltaTime)
	currentSteerInput += (targetSteerInput - currentSteerInput) * steerAlpha

	local vehicleSpeed = driveSeat.AssemblyLinearVelocity.Magnitude
	local speedAlpha = math.clamp(vehicleSpeed / STEERING_SPEED_REFERENCE, 0, 1)

	local maximumSteerAngle = LOW_SPEED_STEER
		+ (HIGH_SPEED_STEER - LOW_SPEED_STEER) * speedAlpha

	local desiredSteerAngle = maximumSteerAngle * currentSteerInput

	currentSteerAngle = moveToward(
		currentSteerAngle,
		desiredSteerAngle,
		MAX_STEER_CHANGE_PER_SECOND * deltaTime
	)

	leftServo.TargetAngle = currentSteerAngle * LEFT_STEER_DIRECTION
	rightServo.TargetAngle = currentSteerAngle * RIGHT_STEER_DIRECTION
end)

updateThrottleInput()
updateSteeringInput()

Also, sometimes when I turn too hard the wheels randomly lock up. Im not sure what im doing wrong.