Need help in choosing a constraint for this kind of thing

Hey!
So I’m doing a very complicated car, and I want it to be physics based (could use animations but it’s not optimal for terrain).
I’m choosing a constraint that connects the sphere, or cabin, to the arms of each wheel:

The motion I want the constraint to handle is this:

I think either BallSocket or Hinge Constraint are the way to go but I’m not sure how to configure them. It’s fine if there’s scripting needed for this since I will have to code it to move eitherway but what about this type of movement?

Currently I have a HingeConstraint with limits that takes care of the first thing.

Apparently using Hinges and rotating the Attachment0 does indeed do what I’m looking for.

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