How do I fix this weird issue with rotating wheels?

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1

I am trying to make the wheels on a jeep rotate when the jeep turns. However, the wheels do rotate properly, but only when the jeep is still. When the jeep moves, the wheels spin weirdly. Here is a capture of the problem:

https://gyazo.com/b7ce8fc1569bf122eb9dd251e97c7e12

The part of the script responsible for making the wheels spin and rotate is here:

function spinWheels(direction)
	local factor
	if direction == "Forward" then
		factor = 10
	elseif direction == "Backward" then
		factor = -10
	else
		factor = 0
	end
	
	local spin = coroutine.wrap(function()
		while s do
			wheels.BackLeftWheel.PrimaryPart.Motor6D.C0 = wheels.BackLeftWheel.PrimaryPart.Motor6D.C0 * CFrame.fromAxisAngle(Vector3.new(0, 0, 1), math.rad(factor))
			wheels.BackRightWheel.PrimaryPart.Motor6D.C0 = wheels.BackRightWheel.PrimaryPart.Motor6D.C0 * CFrame.fromAxisAngle(Vector3.new(0, 0, 1), math.rad(factor))
			wheels.FrontRightWheel.PrimaryPart.Motor6D.C0 = wheels.FrontRightWheel.PrimaryPart.Motor6D.C0 * CFrame.fromAxisAngle(Vector3.new(0, 0, 1), math.rad(factor))
			wheels.FrontLeftWheel.PrimaryPart.Motor6D.C0 = wheels.FrontLeftWheel.PrimaryPart.Motor6D.C0 * CFrame.fromAxisAngle(Vector3.new(0, 0, 1), math.rad(factor))
			wait(0.0000001)
		end
	end)
	
	spin()
end

function tweenC0(obj, angle)
	local tweenInfo = TweenInfo.new(
		0.2,
		Enum.EasingStyle.Linear,
		Enum.EasingDirection.InOut,
		0,
		false
	)
	
	local properties = {
		C0 = CFrame.fromAxisAngle(Vector3.new(0, 1, 0), math.rad(angle))
	}
	
	local tween = tweenService:Create(obj.Motor6D, tweenInfo, properties)
	tween:Play()
end

function turnWheels(direction)
	local factor
	if direction == "Right" then
		factor = 45
	elseif direction == "Left" then
		factor = -45
	else
		factor = 0
	end
	
	local turnW = coroutine.wrap(function()
		tweenC0(wheels.FrontRightWheel.PrimaryPart, factor)
		tweenC0(wheels.FrontLeftWheel.PrimaryPart, factor)
	end)
	
	turnW()
end

Is there any way this can be resolved?