Raycast align with ground normal

Two ideas out of my head without testing, and neither of which may work. The first is to keep track of the previous normal. Then you generate a rotation by calculating the FromToRotation() using the previous and current normals. Then you multiply that rotation by the current rotation of the car. The car needs to start aligned with the initial value of prevNormal;

 Quaternion q = Quaternion.FromToRotation(prevNormal, hit.normal);
 prevNormal = hit.normal;
 transform.rotation = q * transform.roation;

Another possibility is to separate the two rotation into different game object. Have the empty parent game object do the normal alignment and then have the car do it turning through transform.localRotation.

You could also try setting transform.up = hit.normal.

What you don't want to do is set the rotation to just that FromTo as @robertbu says - you would want to modify the existing rotation. transform.up = hit.normal does try to do that.

Ok, is this right?

     var hit : RaycastHit;
     var castRot = Vector3(transform.position.x,transform.position.y-.50,transform.position.z);
     
     if (Physics.Raycast (castRot, -transform.up, hit)) {
         prevNormal = hit.normal;
         Quaternion q = Quaternion.FromToRotation(prevNormal, hit.normal);
         transform.rotation = q * transform.rotation;

It says ';' is expected on the line, "Quaternion q = Quaternion.FromToRotation(prevNormal, hit.normal); ". Can you not declare Quaternion variables like this?