
It is having the exact same behaviour. Back wheels are losing contact with the ground, and the caster wheels just move it around when they are the only thing that can reach the ground.

Did some messing around, this seems to have worked for the area I am testing.
Main section wheels:
<physics restLoad="4.6" repr="0>0|2|3|1" radius="0.41" forcePointRatio="0.3" frictionScale="2.0" initialCompression="60" suspTravel="0.5" spring="60" damper="50" yOffset="0.095" supportsWheelSink="false"/>
Section wheels:
<physics restLoad="2.6" repr="1>0|1|1|1" radius="0.41" forcePointRatio="0.3" frictionScale="1.0" initialCompression="60" suspTravel="0.5" spring="60" damper="50" yOffset="0.095" supportsWheelSink="false"/>
Caster wheels:
<physics restLoad="2.6" repr="1>0|2" driveNode="1>0|2|1" forcePointRatio="0.5" yOffset="0.045" frictionScale="0" radius="0.16" width="1.25" mass="0.25" initialCompression="40" suspTravel="0.6" spring="55" damper="50" rotationDamping="0.4" brakeFactor="0" versatileYRot="true" supportsWheelSink="false"/>

