Known. A wooden home on wheels was found in a burial ground.
The find is at the Baidala burial complex, in the Pavlodar region of Kazakhstan. It belongs to the Kimak-Kipchak period. The Kimak Khaganate rose in the late 9th and early 10th centuries. The home was a wooden dwelling set on a wheeled platform, with a tent cover like a yurt. The page says no matching mobile home has been found by archaeologists on the Eurasian steppe. Other objects from the site include a wooden saddle, stirrups, bits, weapons, jewellery, and silk cloth.
The page says this ground may be Imakia, a Kimak political centre, but that is not proved.
https://www.ancient-origins.net/news-history-archaeology/kimak-house-wheels-chariot-00103031