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You wouldn't be scrubbing the rear tires in a turn, as they'd either be following the arc of the turn, or they'd be pointed the same direction as the front tires. (Most 4WS systems have a low-speed mode to allow tighter turns, with the rears following the front arc (opposite direction to the front), and a high-speed mode to allow more stable lane changes, with the rears pointing the same direction as the front.)
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