Hmm, if you want to make it a car you might want to connect the wheel onto the character using constraints if you looking for a physics-based approach solution.
In fact, I made a similar one-wheeled vehicle using constraints and the AlignOrientation constraint attached to an anchored block being moved by CFrames to make the vehicle upright.
The script uses the carkit script which I learned from which is not very good since it’s a while true do loop (similar to the jeep in the toolbox) but it works.
I’ll uncopylock it since it’s just a funny thing I did to learned CFrames especially for making the anchored block orient to the floor. You can access it here below lol.
Edit: BTW, if you want a character to do it make sure to set the state to physics enabled at all times to prevent the humanoid within the character from exerting force which would ruin the constraint mechanism.