I love this post, just my kind of litterature.
I'd love to see a screenshot of the cylinder collider mess, if it's still accessible, kinda like topology gore but in volume instead.
I've never liked the wheel collider component, even if I only tampered with it on a surface level. It's just the kind of thing that makes it "so much simpler" by being bloated with features and introduces so many undocumented problems and uneditable source.
Wait there's a hemisphere raycast? Or do you have a method that sends an array of them? Or maybe it's 3 raycasts and you interpolate the height with a circular ramp?
"Oh but what if your car rolls on rigid bodies, if it doesn't apply force it won't be realistic and-" Ok but what if the game doesn't have or need either? Sorry, more Wheel Collider rant lol. It's one of those systems that just feels like it's taking the decisions instead of the actual dev. It was a reoccurring sentiment I had working with many builtin systems of Unreal Engine.