Definitions
Dynamics: Control of the car movement
Steering: Turn wheels for directional control
Wheel track: Distance between two parallel wheels
Wheel Base: Distance between two colinear wheels
Camber: Angle of wheel pitch 
Toe: Angle of wheel yaw 
Tire slip angle: Difference between direction of car and angle of wheel
Types of steering
Different types of steering explored here are characterized purely based on the angle of the two wheels the mechanism controls (could be front or back)
Parallel
Both wheels turn at the same angle.
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If both the wheels were turned by the same amount, the inside wheel would slip (effectively sliding sideways) and lessen the effectiveness of the steering, increasingly prominent at tighter turns. This tire slip also creates unwanted heat and wear.
Ackerman
Inner wheel turns more than outer wheel.
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This setup mitigates the inside wheel slip during turns. Most commercial cars use Ackerman steering and it is especially favored for off-road cars.
Anti-Ackerman
The outer wheel turns more than the inner wheel.
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Anti-Ackerman is typically used for high speed cars (Formula 1). High speed cornering has an uneven distribution of force. When turning, inertial forces tend to deform the tire construction in an "attempt" to push the vehicle towards the outside of the corner. Having a higher slip angle on the outside tire combats this, allowing the vehicle to stay at higher speeds.
MSXV (and probably most other cars we’ve made) use Ackerman steering, and it is likely what we’ll iterate on for MSXVI (?)Due to space constraints, MSXV uses parallel steering. However, MSVI will use Ackermann steering.
Other research on this (not by me) can be found here: https://uwmidsun.atlassian.net/wiki/x/PYCWsw .
Subsystems
There are 3 major subsystems wherein most components fall under.
Steering Column
The steering column is intended primarily for connecting the steering wheel to the steering mechanism. It can serve other purposes such as mounting for smaller parts as well, but the main purpose is to transfer energy from the driver to the gear. In most commercial cars, the column is designed to collapse on collision to protect the driver.
Steering Gear
The steering gear is the central component of a car's steering system. This mechanism converts rotary motion to a sweeping/angular motion. This is typically a rack and pinion but can in some cases be a gearbox.
Steering Linkage
Transfers energy from steering gear to steering knuckles which is what ultimately turns the wheels .
https://www.researchgate.net/publication/265755401_Design_of_an_Ackermann_Type_Steering_Mechanism
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