According to its obituary(!) in The Economist, 2019 Feb 23, p. 86, Opportunity could brake wheels independently. It
dug a trench by spinning one wheel while it kept the others locked
Also, JPL reports control of individual wheel speeds and sensing of suspension state on Curiosity:
The traction control algorithm uses real-time data to adjust each wheel's speed, reducing pressure from the rocks. The software measures changes to the suspension system to figure out the contact points of each wheel. Then, it calculates the correct speed to avoid slippage, improving the rover's traction.
During testing at JPL, the wheels were driven over a six-inch (15-centimeter) force torque sensor on flat terrain. Leading wheels experienced a 20 percent load reduction, while middle wheels experienced an 11 percent load reduction, Rankin said.
Traction control also addresses the problem of wheelies. Occasionally, a climbing wheel will keep rising, lifting off the actual surface of a rock until it's free-spinning. That increases the forces on the wheels that are still in contact with terrain. When the algorithm detects a wheelie, it adjusts the speeds of the other wheels until the rising wheel is back into contact with the ground.
There must be better sources with more details. I challenge others to find them!