Yes, this is a ridiculous situation to show the issue, but it works. I can tell the current system is using the surface area that is in contact with the ground, however tank tracks are designed to bite whatever surface to achieve the traction that tanks are known for (in real life)
At a minimum there should be an increase in traction overall, instead of working on an individual system for every unique track type (of course this would be cool to have in the future). I have also gotten into situations where if I go over slightly raised rocks on flat ground, I will get stuck due to the low surface area, even though there should really be no problem keeping traction.