In this investigation, critical insights into the complex interactions between tyres and soil are explored through the utilization of nonlinear finite element analysis (FEA), bearing significant implications for vehicle dynamics, safety, and performance. Maximal shear stress values, identified through shear stress analyses, reveal a peak of 8.4 MPa in the tyre-road contact region and an approximately uniform shear stress of 1.703 MPa in alternative areas, laying the foundation for advancements in tyre design optimisation. It was demonstrated that tyre designs necessitate optimisation to specific ground materials to fulfil essential traction requirements and preclude sinking. For interfaces involving soil and neoprene rubber, the contact status at the mid-section zone was observed to be in a sticking condition, transitioning to sliding as the observation point moved away from the centre. The research highlighted that through nonlinear analysis, accurate predictions of tyre behaviour under fluctuating loads can be achieved, thereby aiding in the formulation of designs for more fuel-efficient tyres and enhanced wet-weather handling. However, the study recognises the constraints imposed by simplifications within the tyre model, omission of dynamic behavioural factors, and assumptions regarding unvarying friction coefficients. While the analysis was confined to particular material models and validation was executed primarily via numerical simulations, findings affirm that strategic application of nonlinear FEA elucidates pivotal factors in tyre-soil interaction, propelling the establishment of safer and more performance-oriented vehicle models.