Yes, however the gear model I use is too simple. It simply applies higher engine force for higher gears. It doesn't vary the torque in inverse proportion(?) to the gear. If anyone has pointers to a better gear model that relates gears to applied torque by more or less accurate math , I can try to integrate it.
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Actually if you think about it, for higher gears the torque is reduced but the angular speed transmitted by the engine to the wheels is increased (to keep the total power transfer same perhaps ?)....hmm have to think about it.
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The vehicle is driven only by the 2 rear wheels, the front wheels receive no engine power , only steering direction.