[Bicycle Bob]

"The 3-wheel car of his mentioned in the article I presume, with the rear wheel steering a said mistake."
Rear wheel steering is not particularly problematic, especially on a tadpole trike. With four wheels and equal axle length, it is possible to get trapped against a curb, unable to steer away from it, but even a slightly shorter rear track fixes that. The permanent problem is that it takes longer to respond, having to yaw the whole vehicle to steer the front wheels, but that is less than the time needed for a two wheeler to lean in before turning. The proper steering geometry is the same as a regular car running in reverse, as this causes self-centering in a steady turn. The tendency for the wheels to flip right around like shopping cart casters is defeated by a simple damper.