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Hey, simple answer from someone using OIMO for years.
There is no vehicle in this version of OIMO.
Only the old fork https://github.com/lo-th/Oimo.js/ had one, but is not really maintained/expanded anymore.
Since this actual Oimo receives rare updates, and a vehicle is combination of multiple techniques already implemented in the engine. You probably should create one specific for your project.
What you basically need is probably not a perfectly simulated real car with a lot of joints, but a "raycast car", like in your example. This is a common technique and you will find a lot of tutorials out there, that can be done with OIMO.
The example you posted is in bullet physics a project maintained by many people, and only get's used with bindings in other languages than it's c++ core. Oimo is as far as i know a one person project and thus is a great engine, i also use myself, but you can't expect updates for new features to happen fast.
i use oimo couldn't find the vehicle, related impostors, joints, motors and integration with other frameworks
https://github.com/armory3d/armory/blob/main/Sources/armory/trait/VehicleBody.hx
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