Vehicle dynamics is a fairly simple science except for modelling tyres. By which I mean (in steady state conditions) a mapping (Force, Slip Angle, Slip Ratio) -> (Lateral Force, Long. Force, Moments etc)

It's fairly complicated because Tyre's are made of rubber, so you either use finite element analysis which is slow, or some kind of (FD) approximation which can be fairly crap. Modelling the transient properties properly is doable, modelling the thermal properties efficiently is genuine "If we told you we'd have to kill you" black magic