How can I get wheel physics like in MMX HillDash?

I want to make an MMX HillDash remake, however, I do not know how to fix the wheels.
I want the wheels to sometimes clip into the ground (X)
I want the wheels to sometimes lose most momentum on slopes that lead to ramps (X?)
I want the wheels to not be stiff (X)
I want the wheels to sometimes go through the car chassis (X)
You can see how little fixes I have for this.
How can I fix these?
Place file:
FMH3TP.rbxl (108.9 KB)