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FINALLY got this to work after a lot of messing around and a ton of problems, mostly with getting things to line up properly (no one wants wobbly wheels, right?). So here's the method that worked for me.

1) Switch on the grid to ½ setting - and create a block as your 'car chassis' shape.

2) Focus out of that chassis shape and create a new cylinder shape. Line this up where you eventually want your wheels to be (you can just use a cylinder as a wheel if you want but I find the donut shape (filled or otherwise) is better but stick with the cylinder for now, you'll see why)

3) Focus out of building mode entirely, and clone your four cylinders, taking care to line up one on the opposite side of the 'car' first, then cloning it twice more for the back wheels, again in line (use precise alignment mode for this, it helps loads, just make sure the green line 'lines up' when you're moving stuff)

4) now the fun part. Make all your shapes moveable (L1 Circle on all sculpted shapes). This is important otherwise your vehicle won't work at all!

5) Now link the wheel shapes to the chassis using bolts. This is the bit that I hated the most but here's a rule of thumb, these do not need to run through the centre of your cylinder as you'd imagine a wheel hub would. Just make sure that the yellow dot is attached to the chassis, the blue dot IS IN LINE WITH THE YELLOW DOT but is placed anywhere centrally on the wheel (it can even be on the very edge of the wheel, it doesn't really matter as long as it's A) in line with the yellow dot and B) attached to the wheel.

6) Do this to all of the wheels - the more consistent you are with keeping the yellow and blue attachment points in time, the more likely you'll succeed with the next very important part.

7) Now the pink pivot point. You need to make sure this is aligned with the EXACT CENTRE OF YOUR CYLINDRICAL WHEELS. You'll get a sense of whether it's centred or not by looking at the rotation axis that appears - it should be directly in the centre of your wheel otherwise you're going to get some seriously wobbly wheels.

8) Do this again with the other three. If all goes well, all of your pink rotation points will be dead centre to your wheel. Don't worry about what the struts look like at all, they can look a huge mess and still give you the results you need.

9) Finally, test. What I do to test smooth running is build a ramp, and just use standard bolts to attach my wheels, placing my vehicle at the top of the ramp so it can just roll down on its own accord (without the annoyance of needing to set up the motor bolts just yet). If all goes well, that sucker will just roll on down the ramp as smooth as silk.

10) If you do want to 'drive' your wheels, say with a controller chip, you will need to turn them all into motor bolts. The method I use to make forward and reverse work is to drive the back two wheels forward (change the direction of the motor bolts spin and test these thoroughly, quite often the rotation you see isn't the rotation you'll get in testing!!) Link these to R2 and L2 on your controller chip - but make sure you link R2 to the back wheels (driving forward) and L2 to the front wheels (driving backward - saves a lot of faffing around with introducing splitters etc to break down the controller chip).

I'm about to publish my simple forward / backward vehicle chassis to Dreams so check out user peej maybe and you'll hopefully find it of some use, to remix and use in your own creations if this has been doing your nut in like it has mine.

Now I'm trying to figure out how to make my vehicle steer without tearing my remaining hair out! Any ideas?!