Rotation dilemma

There is 3 different methods:

• Car wheels that roll
• Rolling Along A Path
• Rolling Ball

In the 1st (is the popular) tutor not cover direction and path distance and if the "weels" change direction then rotation axis is not correct. After all, as I heard, still teach this method in CG scools (!). 2nd tutor sound good, but not clearly what kind of vatiables in use - vector or scalar. And the 3rd use script control instead of expresion based and why it is most correct method - find out in here.