How can I rotate around and object with wheel colliders?

Hi all, I am making a game in which I want the player be able to grapple with its car and slip around the object for as long as the car is attached. Basically rotating around and object with physics With setting the rigidbodies angular velocity, I got a result I want to achieve, although this is not working for me because it flies of in the air every now and then... At the bottom of this post, you can see what I mean with that.
Anyway, what I want to ask if I can get a likewise (but better) effect like this, but with wheel colliders?
Thanks!

![previous result][1] [1]: https://media.giphy.com/media/Swr2UL2PG4LiSUJ9Yt/source.gif