Material and Infill
Material
PLA & TPU
For the PLA parts I like to to use 15-25% infill with a wall thickness of 2-3. I recommend using a newly opened filament roll or one that's been properly dried as any warping could cause issues. Keep in mind not all PLA filament is created equal with some being extremely brittle("Ask me how I know").
The TPU parts for this model consist only of the tires. I like to use 10% infill with a wall thickness of 2. I recommend 95A as it provides a good amount of flexibility though wont stretch so much as to cause slipping.