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The simplest setup is to use motors with wheel encoders built-in, or motors for which stock encoder modules exist. Barring that, the best setup is if you have access to the back shaft of the motor (before the gearing). You should be able to set up an optical or Hall-effect encoder on that side.

If you have an actual car and want encoders for the wheels, you could either go an optical route, with some sensor mounted on the axle looking at stripes mounted on the wheels somehow, or perhaps Hall-effect magnetic sensors. But if you have an actual car, you might find it easier to read the existing odometer cable and combine that with the amount of steering to infer the pose changes.