Rigidbody2d physic movement on 2d terrain.

I would like to move my AI tank on 2d terrain. 2D terrain is not always straight it has a hills. When I just start move my AI tank if it is collides with hill (or tries to climbs to the hill), AI tank starts spin(rotates) on Z axis. I'm moving left/right on x axis. during spinning or during rotating on Z axis if I put 0 on Z axis manually in Inspector, tank moves normally when it collides with next hill. I use 2d capsule collider as a wheel. I tried everything but I can't get normal movement. I can't freeze Z axis completely cause I need Z axis a little bit when tank climbs to the hill.

  private void FixedUpdate()
         {
             if (move)
             {
                 // rig2D.MovePosition(rig2D.transform.position
 + (transform.right * vJoystick.y * Time.deltaTime * 3)
                 //  + (transform.right * vJoystick.x * Time.deltaTime * 3));
                 //rig2D.velocity = new Vector2(-transform.position.x * 5 * Time.fixedDeltaTime, rig2D.velocity.y);
                 //Vector3 dir = (target.transform.position - transform.position).normalized;
                 //dir.z = 0;
                 //rig2D.MovePosition(transform.position
 + dir * 2 * Time.fixedDeltaTime);
                 //transform.eulerAngles = Vector3.Lerp(transform.eulerAngles, Vector3.zero, Time.deltaTime);
                 //transform.position = Vector3.Lerp(transform.position, target.transform.position, Time.deltaTime);
                 // float timeSinceStarted = Time.time -
 _timeStartLerping;
                 //  float presentageComplete = timeSinceStarted / timeTakenDuringLerp;
     
                 // transform.position = Vector3.Lerp(_startPos, _endPos, presentageComplete);
     
                 // if(presentageComplete >= 1.0f)
                 // {
                 //     move = false;
                 // }
                
             }
         }

Do I need freeze Z axis and rotate it with clamp limit?