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Yeah... this is to do with how keyframes interact with jointed objects within movable groups. They make those objects movable, even if they're set not to be. I've actually had a lot of trouble with getting wheels that steer work because of this, myself.
One thing you could try is to not use keyframes at all, but tweak the joints in question and set them to be motor bolts. Then give them limits and send them a signal from -1 to 1 to set where within those limits the desired position is, and the joint will rotate at the designated speed to get it there.