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Pawn Follow Spline - Trouble with accuracy

So I followed a tutorial on how to get a vehicle pawn to follow a spline. The problem is the accuracy of the follow is quite bad such that the pawn steers too late and doesn’t adhere to the spline quite so well. Also, the speed at which the pawn can move is limited. If you increase the speed too much, it goes all over the place and doesn’t seem to follow the spline at all. Just wondering if anyone knows how to improve this so it’s more accurate?

And the code:

No one has any idea how to make this more accurate huh? I mean, I could make the AI into spline meshes, but then I lose the more natural feeling of how they move and how you can bump them around.