***Finally ***got the collision system to work properly without clipping bugs.
The challenge was resolving collision relative to what side of the wall the car was, determining a "right" side was also dependent on how the walls were created in the editor (clockwise or anticlockwise stacked nodes). The second challenge was resolving the angular velocity and linear velocity vectors in a way that makes sense, the more steep the attack angle, the stronger the change in these velocity vector directions should be. If a scaler wasn't isn't there, the car would bounce off the same regardless of how fast it attacks the wall, which looks unnatural.
with this in place, AI cars come next.