Wider range of control for wheels

I've been experimenting with rovers, and so far I've noticed a couple things about the wheels:
-They lack rolling resistance, a small amount of initial speed can last for minutes.
-They lack static friction, the mildest of inclines will eventually make them move a heavy rover unless you apply the brakes.
-Braking and attempting to accelerate at the same time will drain your batteries quickly
-The turn input is only controllable in 5-degree increments.
-Braking prevents the wheels from leaving the ground.

My main complaint though, is that they're way too powerful.
-Even with the lowest torque setting, great care is needed to accelerate a 1-ton vehicle slowly.
-They apply a constant torque through the RPM range, only limited by gearing
-The brakes are also way too strong even if controlled with the slider.

I suggest:
-Lowering the possible torque output of the wheel
-Lowering the possible brake torque
-Adding rolling resistance (proportional to speed/diameter/width, depending on surface and wheel type)
-Adding static friction
-Adding a RPM limiter you can set on the fly
-Changing the way the brake works (It acts more as a ground magnet than just stopping the rotation of the wheel)
-Changing turn input increments to be more precise
-Adding a taper to the torque curve
-Adding a checkbox for turning brake input on/off