Allow physics position and angle lock relative to parent object

The usecase I am unable to create right now is a simple 4 wheeled vehicle.

Something like this :   

Where the 4 wheels would be modeled as pill shaped items and should be locked to 4 corners of a rectangle. The API as it is designed now does not allow this as far as I understand. This is pretty limiting. The position of the wheels should be kinematically locked to a part of a non-kinematic physics body of the car (the rectangle). Then the rotation should be kinematically locked in 2 axis but still actively modeled in 1 (the wheel rotation axis). I have no idea how the current design of QtQuick3dPhysics can support this?

If LinearAxisLock and RotationalAxisLock would act on the position and angle relative to the parent object, then this usecase would be possible. But right now these positional and rotational axis locks work relative to the world rotation and position 

I hope I am wrong in my interpretation and this may still be possible. But if not I think this is a worthy addition to create composite wheeled vehicles with physics