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The problem with the lead picture in permalink 51 is that Ackermann steering geometry requires one point in the back to triangulate from, and this photo shows two contact patch centers, putting the Ackermann point in front of one, and behind the other, creating scrubbing and side forces, one to the left, and one to the right. Why not mount the two rear wheels next to each other, side by side. The Ackerman point would then be between the two contact patches, and you would still have four wheels, with little scrubbing (none with freewheels or differential).
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