Reporting to everyone here, I have successfully implemented Ackermann Correction for my custom NWheeled Vehicles, witch is pretty much the same as did. Obviously, it is a PhysX source code modification and some new lines of code inside our NWheeled class. Also, made some modifications on standard UWheeledVehicle class (4W) , so you can add more than 4 wheels without breaking it. My next attempt will be porting the 4W Differential options to the NW class. Wish me luck! :o