I wrote a tutorial on
door rigging that has several aspects that could be helpful.
There are three aspects that may help you, a locator, user created attributes, and knowing expressions (Set Driven Key can also be useful, depending on what you are wanting the car to do). Use the locator as the main control where you can control the various animation through a single unrenderable object. You add controls by adding attributes (Add Attribute under Modify) to the locator. Then use expressions to link one attribute (i.e. Rotate X of the left rear wheel) to an attribute you created on the locator (say...rearWheel_spin). Then do the same for the right front tire by linking to the attribute rearWheel_spin. Then you can do a similar thing to the other objects.
Then when you need to key the animation, you can simply key specific attributes on the locator instead each object.
Let me know if this made sense or not.