Rolling in creo mdo

Im trying to create a simulation in which a 4-wheeled cart rolls on a flat surface, but I cant figure out how to do it.

when I use cam connection for each wheel, add friction and gravity and start a simulation, the wheels dont seem to roll but slide and act weird. When I use 3d-connection with friction, the wheels are properly rolling, but the simulation takes ages to finish. Im not sure, but I guess its better to use cam-connection.

Could anyone please upload an example which works properly?