How to turn Vehicle to right and left

actually my current Vehicle can move to forward and backward and Steering to left and right .

Now i want to move vehicle turn right and left with movement.
Generally What is the best method to move Vehicle?

if your vehicle “steers” left and right then why doesn’t it “turn” ?

not sure why you have the controller yaw input !!!

with yaw input vehicle turn in place.It looks unnatural i need turn a bit in realistic.