Hi Mitch,

Thanks for the file.
I replaced the Floor Dynamics (Backdrop) with a Plane.
I have set the Wheel Dynamic Shape to a Cylinder Z
Increased the scale to 5 cm
Friction to 80% for all
I left the Bounce at 0% even though I think that is not how I would do it, but I guess that is your target.
I cached it, and it looks acceptable to me.

It runs fast; I placed (standard render) a checkerboard on the wheel.

What you might have used, but since I write in a forum:
Attribute Manager> Mode> Project> Bullet> Visualization


I hope that works for you.

All the best