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The Honda Prelude's rear wheel steering had two modes of opperation.
1) Slow speed 0-15 or 20mph. The rear wheels turned opposite of the front. Not near the angle of the front wheels. This aided in maneuverability, shortening the turning radius. At higher speeds you have too much oversteer.
2) High speed 15 or 20 mph on up. Parallel to the front. Not near the angle of the front wheels. This induces an increased slip angle in the rear tires reducing oversteer.
Wagon steering.
Wagons have 2 rear wheels. Pivoting a front "axle" reduces the track width on the front axle leading toward tipping issues with a single rear wheel. Under normal driving conditions you would probably be ok. Evasive maneuvers would get real hairy real quick.
Personally I would go with a manual rack & pinion steering of the front wheels. Mount the wheel pants to the upright so they travel up & down as well as turn with the wheel. With a dual wishbone suspension with coil over shocks, you would not have any suspension components higher than the tire by the outside of the vehicle.
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