Instead of simulations we can collect real world data by moving several rovers around autonomously in a field. Some rovers will transmit and others will listen and collect data.
See here
During lab check one motor failed, the gears broke
During the first mission one motor very early on, the rest of the test was partially successful. Pivot turns were almost impossible on the grass.
The whole chasis was resigned to weigh less ~1.8kg payload vs las mission of ~4kg payload. Two motors failed, one motor failed due to broke gears and the other burned out.
This chassis was abandoned in favor of GoBila Recon