You need a body to be the road, like the blue block in the video. That goes up and down on a Translational Joint to Ground.
You need a body to be the wheel which also goes up and down on a Translational Joint to the road Body.
You need a spring between the road body and the wheel body to have the spring rate of the tire, Ku.
You need a Translational Joint between the wheel body and the car body.
You need a spring between the wheel body and the car body to have the spring rate of the suspension, Ks and the damping Cs.
This is the most idealized version and is the 1D model that is like MATLAB. You can put a bump load into the Joint that connects the road to Ground in the form of an Acceleration-Time history or a Displacement-Time history.
Once you depart from a 1D model, the problem gets 6 times more complicated, because you have to control six degrees of freedom of each body.
This kind of model is best done in Rigid Dynamics.
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