On small wheels on cars and trucks, etc., I generally do a layered approach. I make a copy of the wheel opening with excess wheel well around it. I then cut the wheel off the original model and cut out the wheel well. I glue the new part behind the wheel well opening and the wheel on top of that wheel. Gives depth without being too fiddly.
On baggage carts, wheels are below the chassis, but a layered wheel might work on that, too.
I always feel good looking wheels can even make a not-so-great model look good. With your great textures, they would really make the models fantastic. There's no way I could build a traditional 3D wheel that is only 3mm...
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