Hi,
You should totally go for a custom behavior or actual framework if you start messing with wheels... Unless you know excatyl how wheels collider is working, and it's indeed very tricky to get right.
Typically, download the "Samples Assets ( beta)" from the asset store and in there you'll have a very well down Wheel component, that even allow you to conveniently align the wheel collider with your wheel mesh for you. so it's really powerful, and works straight away out of the box.
Typically, the wheel model should simply follow the wheel collider transform, without any fancyness.
[EDIT] I was so wrong... It's actually very tricky, and a series of custom actions would need to be done for this. I'll see if I can make a convenient wrapper for this to be done automatically. Can you bump me sometime next week and I'll work on this.
Bye,
Jean