There were a lot of minor changes, until the invention of the Wire Wheel, which was created for the bicycle in the 1870s. Pneumatic tire was introduced in late 1880's. The earliest cars had wooden spoked wheels, wire wheels or artillery wheels. The Pressed Steel Wheel replaced these in 1930s, the advantages being that it was lighter, stronger and cheaper to produce. These days cast wheels have reappeared in the market, are used for sports cars, They are made of light magnesium or aluminum alloy.
Some kinds even look similar to the old artillery wheels, and in fact they are very light strong.
The same concept is used for the aircraft landing wheels.