I made a parking simulator a long time ago. To make it realistic, you have to take into account that each wheel turns at a different angle. Both turning wheels need to turn at an angle that meets in the same point of a line that comes out of the back wheels. And, at low speed and acceleration, there is no drifting. To determine how the car moves, since all the wheels point to the same intersection point, just do angular movement of the car pivoting on that point, making angle * radious of the center of the drive wheels match the speed of the car. Wheel differential compensates for choosing the center of the wheels.