Car physics with colliders on the wheels?

I have model cars that are pushed along routes using the physics. It works pretty well and provides real driving look instead of looking like on tracks, the cars meander some or can fall of the road. The whole vehicle is one big box collider. This means that sometimes the front edge snags on the terrain and the cars flip onto their nose which is silly. So I think I need to model the physics with the wheels as separate objects connected to the body. That way only they collide with the terrain. and I can apply the forces to the wheels. I am not sure how to accomplish this, and was hoping maybe there were examples. I see that other engines offer a wheel collider which would be really cool. But I think even box colliders on the wheels would behave more realistically.