There seems to be a bug inside articulation controller in the latest hotfix branch 2023.1.0-hotfix.1 where the articulation controller is only able to move a vehicle if Line 101-103 inside OgnIsaacArticulationController.py are commented out since the condition on line 101 is failing with one of the values being None hence causing the joint names to be reset and velocity commands not applying.
Easily confirmed by changing code to this
joint_names = db.inputs.jointNames
print(state)
print(joint_names)
print(state.joint_names)
# if np.array([joint_names != state.joint_names]).flatten().any():
# state.joint_names = joint_names
# state.joint_picked = False