WheelCollider - Problem with model rotation

First of all I have to mention that I have just started to get familiar with Unity engine, so my question is probably really basic. :)

As my first task I would like to create simple car with simple controlling so I followed this tutorial on Unity's site: WheelCollider Tutorial

I could achieve to control my car but I stucked at adding a visual model to wheel collider. Here is my object hierarchy and how I set the models:

And this is the scene and game windows:

As you can see on the scene screen the wheels' rotation is fine but when I start the game it goes wrong. The wheels are turning and rotating but on a wrong way furthermore the car is not moving when I rotating the visual models. If I turn off the visual rotation the car is moving.

My assumption is I cannot rotate the wheels' model on scene because it will be rotated back according to the script: (I'm using the same code which is in the tutorial)

 collider.GetWorldPose(out position, out rotation);
      
 visualWheel.transform.position = position;
 visualWheel.transform.rotation = rotation;

So my questions:

• How should I set the visual wheel models to display them correctly on scene and in game as well? And keep the car moving.

• The tutorial gets first child transform and after that it gets again transform of visualWheel. Why it is necessary? Shouldn't we use only visualWheel?