I have been trying on and off to achieve this for years and what really bothered me was at slow speeds (reversing into a parking space), my vehicle would move laterally to the wheel direction. I could never solve that issue without hacking it which really annoyed me. Last time I tried was during covid. I picked up "The Multibody Systems Approach to Vehicle Dynamics - 2004" for 99p in a local charity shop. Far, far too advanced for me but I did manage to simplify it with google and some questions on stack to get nice handling. Alas that slow speed lateral motion, just knowing it was there made me shelf it again.

I am determined not to use a LLM or even this article to solve it at some point in my life.

Thanks for sharing.