The Jolt Physics 'VehicleConstraintsTest C++ wrapped in rust using cxx- it's working as well as I need it to though I'm not sure if wheel friction is right (are wheels spinning faster than vehicle speed over the ground?). The build process isn't ideal but is workable.
github.com/lucasw/jolt_...

Have a sim vehicle in jolt-rust working with stacked hinges for wheel rotation and steering on two of four wheels, no suspension, visualized in @rerun.io:

The goal is to recreate this car example with the rust bindings- the visualization could be handled by rerun if there's nothing working out of the box from jolt-rust.

Quickly view all CompressedImage topics in an mcap using mcap_view - github.com/lucasw/mcap_... - I'll make it support regular Image next (which is more work, it's less code to decode jpg bytes that interpret raw bytes in any of several formats). The example is using a tartandrive2 figure8 excerpt.