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I solved it. I had to update the parameters in my .world file. Before it was:

<physics type='ode'>
  <max_step_size>0.01</max_step_size>
  <real_time_factor>1</real_time_factor>
  <real_time_update_rate>0</real_time_update_rate>
  <gravity>0 0 -9.8</gravity>
</physics>

and I changed it to

<physics type='ode'>
  <max_step_size>0.001</max_step_size>
  <real_time_factor>1</real_time_factor>
  <real_time_update_rate>1000</real_time_update_rate>
  <gravity>0 0 -9.8</gravity>
</physics>

I don't know why this happened, but this solved it for me. Now all wheels are published properly in Gazebo and Rviz, even when spawned in this world.