Eh, no. Sorry but the Sd. Kfz. 2 definitely does have rubber tires on the road wheels.
I worked around this guy for over eight years and he runs like a charm ~ so does the Swimmer, now all safely locked away and unseen at Benning.
(That is sarcasm by the way!)
(It is the RSO that just has plain, all stamped metal wheels. Also now locked away at Benning.)
Photos from the Patton Museum ~ Ft. Knox, Kentucky ~ Mike Koenig Photos
I know a photo of a model does not constitute proof but none the less here one is:
The inner road wheels are cast and the outer are stamped but they all have rubber tires vulcanized to the metal rims to make the tracks run more quietly. The 2 was powered by a small auto engine so it ran rather quietly. More like a small car than a motorcycle. The clatter of the rubber block tracks on pavement made more noise than the engine.