I have made this little thing. It's not going to be a car though, but a maybe overequipped electric scooter. That part is just to avoid confusion and is irrelevant to the obstacle I need to come over.
If you can't see what I want already, I am going to link that disc in the middle with an arm to the front wheel assembly, to make a steering control system.
Here is when things stop being easy, at least for me. When the disc in the middle turns, the wheels and the entire assembly should move in relation to the wheels' rotating axises, and in relation to the arm assembly between the wheels and its rotating axises, without any clipping orsuch. Sorry if I were unclear, but think about how this mechanical assembly would behave in real life when turning on the disc in the middle (with a connecting arm that is yet to be added).
How should this easiest be rigged? With Xpresso? Or whatever, I don't know where I should start.