A computing system (102; 1002), comprising: one or more processors (112; 1012); and one or more non-transitory computer-readable media that collectively store instructions (118; 1018) that, when executed by the one or more processors, cause the computing system to perform operations, the operations comprising: detecting an event including a stop of an autonomous vehicle ; initiating a wheel-based action during the event, the wheel-based action associated with movement of at least one tire of the autonomous vehicle relative to a surface, wherein the wheel-based action comprises providing an input torque at a steering system of the autonomous vehicle while the autonomous vehicle is stopped or stopping; obtaining, in response to detecting the event, operational data associated with the wheel-based action, wherein the operational data is indicative of at least one of the input torque, a steering force that results from the input torque, or a steering displacement that results from the input torque; determining, based at least in part on the operational data, data indicative of a friction associated with the surface upon which the autonomous vehicle is traveling during the event based on at least one of the input torque, the steering force, or the steering displacement; and controlling the autonomous vehicle based at least in part on the data indicative of the friction associated with the surface. one or more processors (112; 1012); and one or more non-transitory computer-readable media that collectively store instructions (118; 1018) that, when executed by the one or more processors, cause the computing system to perform operations, the operations comprising: detecting an event including a stop of an autonomous vehicle ; initiating a wheel-based action during the event, the wheel-based action associated with movement of at least one tire of the autonomous vehicle relative to a surface, wherein the wheel-based action comprises providing an input torque at a steering system of the autonomous vehicle while the autonomous vehicle is stopped or stopping; obtaining, in response to detecting the event, operational data associated with the wheel-based action, wherein the operational data is indicative of at least one of the input torque, a steering force that results from the input torque, or a steering displacement that results from the input torque; determining, based at least in part on the operational data, data indicative of a friction associated with the surface upon which the autonomous vehicle is traveling during the event based on at least one of the input torque, the steering force, or the steering displacement; and controlling the autonomous vehicle based at least in part on the data indicative of the friction associated with the surface. detecting an event including a stop of an autonomous vehicle ; initiating a wheel-based action during the event, the wheel-based action associated with movement of at least one tire of the autonomous vehicle relative to a surface, wherein the wheel-based action comprises providing an input torque at a steering system of the autonomous vehicle while the autonomous vehicle is stopped or stopping; obtaining, in response to detecting the event, operational data associated with the wheel-based action, wherein the operational data is indicative of at least one of the input torque, a steering force that results from the input torque, or a steering displacement that results from the input torque; determining, based at least in part on the operational data, data indicative of a friction associated with the surface upon which the autonomous vehicle is traveling during the event based on at least one of the input torque, the steering force, or the steering displacement; and controlling the autonomous vehicle based at least in part on the data indicative of the friction associated with the surface. <EOS>