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It is possible to account for stiffness at the rotational joint of a wheel. The axis can be a 6DOF and you can apply springs in the radial (X-Y) direction and constrain the directions that must remain "locked". I've used this approach before. You can also make a force-motor that is a function of another load (in WF5) to help with the loading at the joint as an option to springs - this might be the best way to go. You still use a cam pair for "lift-off" contact between the tire and the road, so the tire must stay perpendicular to the road surface.
The tire part itself will not deform, but you can have the tire center move based on a stiffness between it and the joint axis through use of a spring at the 6DOF joint. The stiffness you use can represent the tire's stiffness as it deforms under load.
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