Control individual wheels of a top down 2d vehicle

I started making a 2d top down game where you can build custom vehicles by putting different parts in a grid. I store this grid in a 2d array that looks something like this:

{(2, 1, 2),

(0, 1, 0),

(2, 1, 2)}

0 is a free space, 1 is the body and 2 is a wheel. And what I want to do is to control this vehicle by powering its wheels. So if I use the grid I showed as an example I want to move the vehicle like this: But the vehicle can be different and have wheels in different places. I tried using rigidbody addforce and many other things but I am not able to figure it out. I know this is quite broad but I would really love to know how to do it.

Any help would be appreciated.