Making multi-body simulation more robust

I have built a multi-body simulation model of a wheeled robot in MSC Adams and I'm trying to make it more robust as currently it often fails for seemingly no reason and I'm suspecting numerical instability. Notably the issues appear mostly in co-simulation with Simulink (which is critical to my application).

Following the idea that lowering the number of rigid constraints would help I have tried the following:
Currently the robot is constrained in the longitudinal direction and the road is moved below it; I have changed the setup so that the road is fixed and the robot is not and instead it is driven by a torque on the wheels.

I'm not sure if this stategy of replacing rigid constraints by forces really helps, though. Can anyone give some insight on whether this is worth doing or I'm wasting my time?