...
The end result should be two equations that get the inner and outer steering angles based on track, wheelbase and turning radius.
If you’d like more information, the video below goes over the bicycle kinematic model, but more in depth. https://www.youtube.com/watch?v=35lZlO6NrO0&list=PLW3FM5Kyc2_4PGkumkAHNXzWtgHhaYe1d&index=9
Workflow
First, using paper or any electronic notes, write down the equations needed for inner and outer steering, and create a diagram for the bicycle and Ackermann kinematic model
...