Request for information about Nvidia Isaac Sim

I would like to get some information about some points
Does the Nvidia Isaac Sim support the disturbances like vibrations, wheel slip and light reflections?
Can digital sensors be developed and added in the library? If so, with which programming language.
Thank you

Wheel slip is simulated but you need to specify the friction properties of any surfaces you are simulating.

Light reflection is simulated by the RTX renderer.

There are python APIs that can be used to develop digital sensors.