> probably runs into issues with accumulated error
Typically there's no single nor double integration required for a wheeled ground vehicle; distance (revolutions times wheel circumference) is the primary measurement, with speed being trivially computed from that plus an accurate clock.
That assumes there's insignificant slippage between the wheel and ground. A reasonable assumption for a rubber tire on a concrete road, with a 20 sq. in. contact patch. Less reasonable for steel on steel with a 2 sq. in. contact patch.
I certainly agree that there are still errors, wheel slip being a major one. However, that does not cause an accumulating/ever-compounding error in speed nor distance travelled in the way that, say, a one-time error from an IMU's accelerometer does.
The lack-of-integration common in wheeled ground vehicles is highly beneficial to long-term speed & distance accuracy; it's a main reason why odometers were accurate for literally thousands of years prior to anyone knowing how to build an equally-accurate aircraft/spacecraft IMU. (The Romans were able to achieve <0.5% errors over hundreds of miles by the first century AD, something that no aircraft IMU was consistently able to achieve until after WWII).
This probably runs into issues with accumulated error, especially if the error in speed measurement has a serial correlation.