Give the SRV two traveling modes: Land Mode (which is the current one, where the SRV uses the wheels to travel along the planet surface) and Levita Mode, where the wheels turn 90 degrees inward and turn into additional thrusters. When selecting Levita mode, while the wheels are transitioning to the 90 degrees inward position, a small amount of simultaneous thrust raises the SRV a few feet above the ground. When the wheels lock in their new position, continuous thrust allows your SRV to fly slightly above the surface of the planet (few feet), just high enough so that small bumps in the surface are not felt when traveling forward (especially helpful for people in VR and people complaining of motion sickness while in SRV). When it's time to collect materials, you can switch back to land mode temporarily, lower your cargo hatch, collect the mats and get back to Levita Mode. In Levita Mode, the SRV could have similar flying characteristics as the Skimmers, for example.
EDIT: dang, I messed up the title of course
EDIT: dang, I messed up the title of course