Mars rovers keep getting stuck in the super soft and loose dirt. I have a solution that may not be obvious to an engineer or scientist. They keep designing wheels with basically no depth to their tread for some reason, yet if you look at vehicles on earth designed specifically to deal with soft and loose surfaces, the treads are either really deep and designed to dig, or sand paddles which basically swim on top of loose sand.

Also the wheel to rover size ratio looks way too small for anything intended to drive off road.