My friend was looking to make a game involving tanks and destructible terrain so as part of that project I devised a system for procedurally simulating the motion fo tank tracks. I did this by using a piecewise parametric function, effectively a spline. The spline is composed of lines, arcs, and bézier curves.
Beyond the parametric function for determining the position of links in the track. the controller it self uses a pretty standard system of raycast springs to create suspension. I plan on improving the accuracy of the overall controller in the future.
Here's the prototype I made in Geo-Nodes before implementing it in C# for Godot.
Here you can see my initial idea for how the tank tread would work
Here is working I did for a prior project I was working on that was very helpful for this one.