The reason animals don't have wheels is because they evolved in water and then crossed over onto land, so were already highly adapted for swimming or crawling. All the animals that crossed over to land were segmented and bilaterally symmetrical. A tube shaped colony of cells with sensory organs near the mouth has a direction of travel gives rise to a front and back. Being darker on the top than the bottom evades predators and grants left and right, breaking radial symmetry. One group evolved segments which were then free to specialise developing appendages, which were used to cross over to land multiple times, like in insects, arachnids, amphibians and fish. The ancestors of mollusks developed a foot muscle attached to the head, used to crawl along the floor. So nature didn't invent the wheel because animals didn't roll out of the sea, they crawled.
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