How do i make realistic mud

i want to make a fighting game where you need to capture the other team’s flag but to get there you need to go through a muddy zone how do i make it so when soldiers and vehicles pass through the mud it leaves a trail and slows them down also i don’t plan on using water since i want to have a river in the center of the map dividing the two sides

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You can make invisible parts where the mud is, and when the player collides it sets their move and drive speed slower, harder acceleration, and leave behind a part trail.

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I know im late, but i’d like to give my input
the following will surely only work if its Terrain,

you can send a raycast down the feet and wheels and replace the affected terrain (if its mud) with a different terrain, i personally would use limestone and color it to a darker orange, brighter than mud, and while doing that, also just limit their walkspeed, and for wheels, i’d adjust the friction in custom physical properties or just adjust the speed or whatever property incase it doesnt use physical wheels.