Thank you Dr. Sassi. I only have one vehicle to animate and only two wheels are visible to the camera, so I adjusted the wheels manually. I will try your procedure so I can get familiar with Cappucino, which I wasn't even aware of its existence!

Here's a short video of the problem.

https://www.youtube.com/watch?v=l2OdYfK0cDs

I followed this tutorial to rotate vehicle wheels automatically. Works well. However, when I reverse the wheel direction, the wheel axis changes, which can be seen in the animation. as you can see on this example. Any idea how to solve this?
https://www.youtube.com/watch?v=5UnLz5BmIBE