Look closely at the part of a tyre which is in contact with the ground, and you will see that due to the way the rolling radius varies along the flat part, there must always be a small amount of slippage between the tyre and the ground which may or may not be absorbed by the elasticity of the tyre material. This applies to all wheel/ ground interactions where the wheel and ground are not perfectly rigid.
Incidentally, in the 19th Century, experiments were done which gave the hauling capacity of a horse at walking speed on a level surface as (roughly) 4 tons on a metal tyred, thin wheeled cart on a good hard road surface, 7 tons on a railway waggon and 10 tons on a narrowboat. The road figures may have changed slightly when the pneumatic tyre was invented and came into use.