Ok, so I'm not even bothering with tire friction simulation anymore. What I'm trying to simulate is a tire that has 100% grip at all times (no lateral velocity.) Now you see that the statement I just made has a contradiction in it...If a car has 4 tires, and if a car is rotating, it is impossible for all 4 tires to have zero lateral velocity (unless all 4 tires have ackerman steering.) However, using ackerman steering would simply be a cop-out way for never really having to solve the underlying problems. So basically, I am going to list the problems with simulating absolute grip here (For now we are completely ignoring friction equations and just trying to have tires that try their best to grip 100%.) Spoiler: more info about the diagram to explain problem 1 more in depth, the problem is phy_speed updates only after the physics has been applied, so that the entity must first move forward before it can change the lateral velocity of the tires. To explain more of problem 2 more, the overall goal is to cancel all lateral velocity of the tire...This results in pure longitudal velocity for each tire...BUT if this is the goal...then look at the paralelogram location of the tires...the actual destination of the tires cannot be this, because each tire follows a curve with a radius, the path of the inside tire cannot be same length as the outside tire...thus simply putting the tires where the pure longitudal velocity indicates, cannot possibly be the right method. I am really at a loss. Any Brian Beckman's in the audience?