diff --git a/Source/Engine/Physics/Actors/WheeledVehicle.cpp b/Source/Engine/Physics/Actors/WheeledVehicle.cpp
index 388aa1f21..2c21e8880 100644
--- a/Source/Engine/Physics/Actors/WheeledVehicle.cpp
+++ b/Source/Engine/Physics/Actors/WheeledVehicle.cpp
@@ -300,6 +300,7 @@ void WheeledVehicle::Setup()
         auto& data = _wheelsData[i];
         data.Collider = wheel.Collider;
         data.LocalOrientation = wheel.Collider->GetLocalOrientation();
+        data.ChildrenPoses.Resize(0);
 
         PxVehicleSuspensionData suspensionData;
         const float suspensionFrequency = 7.0f;
@@ -507,11 +508,25 @@ void WheeledVehicle::Setup()
 void WheeledVehicle::DrawPhysicsDebug(RenderView& view)
 {
     // Wheels shapes
-    for (auto& wheel : _wheels)
+    for (auto& data : _wheelsData)
     {
+        int32 wheelIndex = 0;
+        for (; wheelIndex < _wheels.Count(); wheelIndex++)
+        {
+            if (_wheels[wheelIndex].Collider == data.Collider)
+                break;
+        }
+        if (wheelIndex == _wheels.Count())
+            break;
+        auto& wheel = _wheels[wheelIndex];
         if (wheel.Collider && wheel.Collider->GetParent() == this && !wheel.Collider->GetIsTrigger())
         {
-            DEBUG_DRAW_WIRE_CYLINDER(wheel.Collider->GetPosition(), wheel.Collider->GetOrientation(), wheel.Radius, wheel.Width, Color::Red * 0.8f, 0, true);
+            const Vector3 basePos = wheel.Collider->GetPosition();
+            const Vector3 currentPos = basePos + Vector3(0, data.State.SuspensionOffset, 0);
+            DEBUG_DRAW_WIRE_SPHERE(BoundingSphere(basePos, wheel.Radius * 0.07f), Color::Blue * 0.3f, 0, true);
+            DEBUG_DRAW_WIRE_SPHERE(BoundingSphere(currentPos, wheel.Radius * 0.08f), Color::Blue * 0.8f, 0, true);
+            DEBUG_DRAW_LINE(basePos, currentPos, Color::Blue, 0, true);
+            DEBUG_DRAW_WIRE_CYLINDER(currentPos, wheel.Collider->GetOrientation(), wheel.Radius, wheel.Width, Color::Red * 0.8f, 0, true);
         }
     }
 }
@@ -519,11 +534,25 @@ void WheeledVehicle::DrawPhysicsDebug(RenderView& view)
 void WheeledVehicle::OnDebugDrawSelected()
 {
     // Wheels shapes
-    for (auto& wheel : _wheels)
+    for (auto& data : _wheelsData)
     {
+        int32 wheelIndex = 0;
+        for (; wheelIndex < _wheels.Count(); wheelIndex++)
+        {
+            if (_wheels[wheelIndex].Collider == data.Collider)
+                break;
+        }
+        if (wheelIndex == _wheels.Count())
+            break;
+        auto& wheel = _wheels[wheelIndex];
         if (wheel.Collider && wheel.Collider->GetParent() == this && !wheel.Collider->GetIsTrigger())
         {
-            DEBUG_DRAW_WIRE_CYLINDER(wheel.Collider->GetPosition(), wheel.Collider->GetOrientation(), wheel.Radius, wheel.Width, Color::Red * 0.4f, 0, false);
+            const Vector3 basePos = wheel.Collider->GetPosition();
+            const Vector3 currentPos = basePos + Vector3(0, data.State.SuspensionOffset, 0);
+            DEBUG_DRAW_WIRE_SPHERE(BoundingSphere(basePos, wheel.Radius * 0.07f), Color::Blue * 0.3f, 0, false);
+            DEBUG_DRAW_WIRE_SPHERE(BoundingSphere(currentPos, wheel.Radius * 0.08f), Color::Blue * 0.8f, 0, false);
+            DEBUG_DRAW_LINE(basePos, currentPos, Color::Blue, 0, false);
+            DEBUG_DRAW_WIRE_CYLINDER(currentPos, wheel.Collider->GetOrientation(), wheel.Radius, wheel.Width, Color::Red * 0.4f, 0, false);
         }
     }
 
diff --git a/Source/Engine/Physics/Actors/WheeledVehicle.h b/Source/Engine/Physics/Actors/WheeledVehicle.h
index a6a1708ad..12b5c864c 100644
--- a/Source/Engine/Physics/Actors/WheeledVehicle.h
+++ b/Source/Engine/Physics/Actors/WheeledVehicle.h
@@ -285,6 +285,12 @@ private:
         Collider* Collider;
         Quaternion LocalOrientation;
         WheelState State;
+        struct ChildPose
+        {
+            Actor* Child;
+            Vector3 Pose;
+        };
+        Array<ChildPose, InlinedAllocation<4>> ChildrenPoses;
     };
 
     void* _drive = nullptr;
diff --git a/Source/Engine/Physics/Physics.cpp b/Source/Engine/Physics/Physics.cpp
index 8066f404d..07b9de909 100644
--- a/Source/Engine/Physics/Physics.cpp
+++ b/Source/Engine/Physics/Physics.cpp
@@ -847,10 +847,24 @@ void Physics::CollectResults()
                 state.TireFriction = perWheel.tireFriction;
                 state.SteerAngle = RadiansToDegrees * perWheel.steerAngle;
                 state.RotationAngle = -RadiansToDegrees * drive->mWheelsDynData.getWheelRotationAngle(j);
-                const float suspensionOffsetDelta = perWheel.suspJounce - state.SuspensionOffset;
                 state.SuspensionOffset = perWheel.suspJounce;
 
+                // Rotate wheel
                 wheelData.Collider->SetLocalOrientation(Quaternion::Euler(0, state.SteerAngle, state.RotationAngle) * wheelData.LocalOrientation);
+
+                // Apply suspension offset (cannot move collider because it breaks driving so move it's children but preserve the initial pose)
+                for (auto child : wheelData.Collider->Children)
+                {
+                    int32 poseIndex = 0;
+                    for (; poseIndex < wheelData.ChildrenPoses.Count(); poseIndex++)
+                    {
+                        if (wheelData.ChildrenPoses[poseIndex].Child == child)
+                            break;
+                    }
+                    if (poseIndex == wheelData.ChildrenPoses.Count())
+                        wheelData.ChildrenPoses.Add({ child, child->GetLocalPosition() });
+                    child->SetPosition(wheelData.Collider->GetTransform().LocalToWorld(wheelData.ChildrenPoses[poseIndex].Pose) + Vector3(0, perWheel.suspJounce, 0));
+                }
             }
         }
     }