The only way to make such motion on rovers in Celestia are to plot insanely accurate XYZV or XYZ trajectories onto the surface corresponding to the elevations of a simulated 3D terrain (if present). The only addon devs I know of that accomplished a similar task were linuxman
(ISS-2009, 2001: A Space Odyssey, N1), rthorvald (Buran?), Sirius_Alpha (Tiangong), toutatis (Galileo Probe, my version was only an extension of his work) and whoever made the original trajectories to Huygens (either Jack Higgins or BrianJ).
Understandably that takes a significant amount of time to pull off, let alone do individual "animations" to the wheels and propellers by separating them into their own 3D models so as of now, giving rover motions are almost near impossible and unnecessary (if there's no 3D model to explore)
Added after 2 minutes 5 seconds:Also, Endeavor35 already made an addon for Ingenuity here:
viewtopic.php?p=153679#p153679