@foone I mean, not necessarily. A square wheel will roll smoothly on a road made up of catenary curve segments. Morphocular has a video on how to calculate a "perfect" road for any mathematically describable wheel
(note that just because their method yields a road shape for some wheel doesn't mean said wheel will roll smoothly, as some wheel shapes may have to clip into their respective road somewhere other than the contact point in order to roll smoothly)