This may be a first rather than final design. I overestimated the length of nearly linear movement of the pitman arm (the distance through the arc that the steering arms are pushed / pulled, by equal amounts, in close to a straight line). Between the second and third positions shown below, the outside wheel (at right) is pulled towards the center faster than the inside (left) is pushed out. The outside wheel turns at a sharper angle than the inside. Opposite of what is required. Will need to see if the turning radius is tight enough through positions one and two in first few test runs.