How to make a car controller script in Unity and set-up wheel colliders for a vehicle

using System.Collections;
using System.Collections.Generic;
using UnityEngine;

public class MyCarController : MonoBehaviour
{
	
	public List<AxleInfo> axleInfos;
	public float maxMotorTorque;
	public float maxSteeringAngle;
	
	public void ApplyLocalPositionToVisuals(WheelCollider collider){
		if(collider.transform.childCount == 0){
			return;
		}
		Transform visualWheel = collider.transform.GetChild(0);
		Vector3 position;
		Quaternion rotation;
		collider.GetWorldPose(out position, out rotation);
		
		visualWheel.transform.position = position;
		visualWheel.transform.rotation = rotation;
	}

    public void FixedUpdate()
    {
        float motor = maxMotorTorque * Input.GetAxis("Vertical");
		float steering = maxSteeringAngle * Input.GetAxis("Horizontal");
		
		foreach(AxleInfo axleInfo in axleInfos){
			if(axleInfo.steering){
				axleInfo.leftWheel.steerAngle = steering;
				axleInfo.rightWheel.steerAngle = steering;
			}
			if(axleInfo.motor){
				axleInfo.leftWheel.motorTorque = motor;
				axleInfo.rightWheel.motorTorque = motor;
			}
			
			ApplyLocalPositionToVisuals(axleInfo.leftWheel);
			ApplyLocalPositionToVisuals(axleInfo.rightWheel);
			
		}
    }
}

[System.Serializable]
public class AxleInfo{
	public WheelCollider leftWheel;
	public WheelCollider rightWheel;
	public bool motor;
	public bool steering;
}