Hello, I have been trying to figure these out. Due to the type of drive I am trying to simulate, I need to be able to set a linear torque reaction on the driven axle. So far, I have not been able to do so and so far had to resort to having it try to rotate the axle and hold it firmly in place. Is it possible to have torque reaction work linearly instead of rotationally? Also, I have not found a way to set the brakes to work on one side only. The setup I am trying make has only one driven, brake wheel.
You would need to make a custom wheels system that doesn't depend on vanilla universal wheels for both of this to work. Not sure how I would do it precisely.
