A vehicle motion management, VMM, system for a heavy-duty vehicle, the VMM system being connectable to a motion support device, MSD, control system for communication of control signals therebetween, wherein the VMM system is configured to: - obtain a parameter value relating to a desired wheel force of at least one wheel of the vehicle; - determine a torque limit for a first MSD associated with the at least one wheel based on the parameter value relating to the desired wheel force; - determine a tyre model based on a relationship between wheel force and wheel speed of the at least one wheel; - determine a parameter value relating to a desired wheel speed for the first MSD associated with the at least one wheel based on the tyre model; characterized in that the VMM system is further configured to: - determine a torque fill request for a second MSD of the heavy-duty vehicle based on the desired wheel force and on a torque capability of the first MSD; and - transmit a control signal to the MSD control system, the control signal being arranged to, when executed by the MSD control system, cause the MSD control system to generate an operating torque by the first MSD to be executed subject to the torque limit and the desired wheel speed, and to generate an operating torque by the second MSD to be executed subject to the torque fill request, wherein the VMM system is further configured to: - receive a limit status signal associated with the first MSD indicative of if the operating torque of the first MSD is limited by the torque limit, and to - determine the torque fill request for the second MSD in dependence of the torque limit for the first MSD in case the operating torque of the first MSD is limited by the torque limit, and to determine the torque fill request for the second MSD in dependence of an applied torque status signal received from the first MSD in case the operating torque of the first MSD is not limited by the torque limit. - obtain a parameter value relating to a desired wheel force of at least one wheel of the vehicle; - determine a torque limit for a first MSD associated with the at least one wheel based on the parameter value relating to the desired wheel force; - determine a tyre model based on a relationship between wheel force and wheel speed of the at least one wheel; - determine a parameter value relating to a desired wheel speed for the first MSD associated with the at least one wheel based on the tyre model; characterized in that the VMM system is further configured to: - determine a torque fill request for a second MSD of the heavy-duty vehicle based on the desired wheel force and on a torque capability of the first MSD; and - transmit a control signal to the MSD control system, the control signal being arranged to, when executed by the MSD control system, cause the MSD control system to generate an operating torque by the first MSD to be executed subject to the torque limit and the desired wheel speed, and to generate an operating torque by the second MSD to be executed subject to the torque fill request, - determine a torque fill request for a second MSD of the heavy-duty vehicle based on the desired wheel force and on a torque capability of the first MSD; and - transmit a control signal to the MSD control system, the control signal being arranged to, when executed by the MSD control system, cause the MSD control system to generate an operating torque by the first MSD to be executed subject to the torque limit and the desired wheel speed, and to generate an operating torque by the second MSD to be executed subject to the torque fill request, - receive a limit status signal associated with the first MSD indicative of if the operating torque of the first MSD is limited by the torque limit, and to - determine the torque fill request for the second MSD in dependence of the torque limit for the first MSD in case the operating torque of the first MSD is limited by the torque limit, and to determine the torque fill request for the second MSD in dependence of an applied torque status signal received from the first MSD in case the operating torque of the first MSD is not limited by the torque limit.