Is it possible to use Hinge Joints to replicate a Rocker-Bogie (rover) Suspension?

Hello everyone! Here's my obligatory "I'm new" part of the post. I've been using Unity to mod Kerbal Space Program for about a year now, and I'm jumping into the territory of making my own game.

The idea of the game is fairly straight-forward, I want to make a 2.5D side-scroller where you play as a Sojourner-style rover and trek across Mars, climbing hills and rolling over rocks.

I'm been working on it for about a week, looking at various tutorials and sample projects.

So far, I've made my rover model and imported it into Unity, used wheel colliders for the wheels, coded a camera-follow script and a player-controller script, and got my rover moving over planes and hills.

My problem now is this: Most rovers use a rocker-bogie suspension system - that is, one set of wheels is anchored to the rover, and the second and third sets of wheels are attached to a bar that "sways" along one axis.

I thought the simplest approach would be to use a hinge-joint in Unity on that "bar" or arm that holds the two sets of wheels, and it sort of works, but I get a lot of jitter / glitching. When I take out the hinge and set up just the wheel colliders like you would for a normal car, it works and drives smoothly.

I'm assuming the hinge joints are hitting the terrain collision, but I'm not sure how to get rid of the jitters. I've looked for different tutorials and videos on this, but I can't seem to find a similar issue to help troubleshoot it.

I have a video to show: https://vimeo.com/177442460

Does anyone on here have any ideas or tips? Or maybe someone can point me in the right direction? Thanks!