Best Simulator for autonomous driving?

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Hello, I started a project, where I would like to simulate autonomous driving/parking with an existing vehicle. I have an stl mesh of the vehicle, and I would like to add lidars and cameras to see how would they work in real life. My question is, what is the best environment to do that? I think gazebo is too complicated for that because of the urdf models. My vehicle is not a conventional car, and it's articulated so the steering is a little bit different. It would be nice if the simulator had integration with ROS, to publish data on topics. Thank you for any advice!