Making rocking/cranky vehicle with RigidBody

Hey, I want to create a vehicle controller, but I don't know how to start. I have been working in Unity for several years, but I never had much contact with physics. I am not asking for block of code, but for tips on what is the best way to do it. In my case, I want: ---------- - a vehicle that will drive forward and accelerate with time (addforce ?) - it has to be subversive (the most important part). FAST turn left and right will result in one of the vehicle's sides rising up