Of Course There is a Way
...and that way is Necromancy, where all magical perpetual motion machines unlive. If you just want a magic-powered transport, hitch skeleton horses to your wagon. That's not what you asked though, and necromancy (of course) has an answer to the exact thing you wanted. Specifically, for "how do I propel something," you will be very hard pressed to do better than the spell haunt shift from Libris Mortis.
Haunt shift permanently converts whatever undead you have lying around into a "haunting presence." You convert a caster-level-dependent amount of hit dice, but nothing with more than 9HD (which is a limitation that matters, because 10HD would give you jet fighters. Which is also possible, but out of scope here).
"Haunting presences" are described in exactly one place: a sidebar on page 6 of Libris Mortis. Haunting presences are where an undead takes up residence in some item or location. We care about items. They can manifest near the item, which is somewhat underwhelming as they are almost impossible to destroy otherwise, but does mean that your car may come with a mandatory zombie butler. More importantly, the haunting presence gets an ability called "Poltergeist," which lets it animate its object's moving parts. What exactly the limits of this are are not well defined, but "a wagon can roll out of the stable" and "a crossbow can cock and fire." The object's movement is limited to how fast the original undead could move in its normal form, and the max object size is huge.
So, what do you do with all that? Here's a six-step recipe for your very own self-propelled wagon!
- Buy a wagon.
- Get ready to cast haunt shift, animate dead, and lesser planar binding.
- Bind yourself up a canoloth (MoP). Or get whatever else; you're looking for fast move speeds and lesser planar binding only goes up to 6 HD. Go crazy. Don't worry about whether you'll be able to bind it though, because next you're going to...
- Kill it quickly. You don't even need to feel bad; canoloths are waaay more evil than all the goblins you waded through to get to this level.
- Animate dead the canoloth corpse into a skeleton.
- Haunt shift the skele-cano-loth into the wagon.
You now have a wagon with a move speed of 50 ft. You have exactly the same control over it as you do over a skeleton created with animate dead, permanently unless you release it.
Obviously you can optimize that a lot more, but the basic version is pretty basic.