cube on 2 wheelcolliders

Hello, does anyone know how to make a cube on 2 wheels? and keep the x lerping to 0 but also keep a leaning effect when driving.

I have made this script but this doesnt work with wheel colliders it will push the wheels forward or backwards or go crazy

 using System.Collections;
 using System.Collections.Generic;
 using UnityEngine;
 
 public class stabalizeRobo : MonoBehaviour
 {
 
    public float x; // current x rotation
      
     Vector3 r; //get the x rotation
     Vector3 a;  //vector3 zero
  
     public float speed; //set speed of rotation
 
     private void FixedUpdate()
     {
         x = transform.localEulerAngles.x;
  
 
         r = new Vector3(transform.rotation.x,0,0);
         a = new Vector3(0,0,0);
          
 
 
 //math to get the x fixed value
         if (x > 256f)
             x = (x * -1f) + 360f;
         else
             x = -x;
 
     
 // lerp back to zero
         if ( x >= 0) 
         {
             Debug.Log("over 0");
             transform.eulerAngles -= Vector3.Lerp(r, a, 100f * -Time.deltaTime) * -speed * Time.deltaTime;
         }
         if( x <= 0)
         {
            Debug.Log("under 0");
             transform.eulerAngles -= Vector3.Lerp(r, a, 100f * -Time.deltaTime) * speed * Time.deltaTime;
         }
 
     }
 
 }