Changing Ackerman is an attempt to get each tire working at it's optimum slip angle for a given load. Ideally, you need to know the dynamic loads involved, then look up the optimum slip angle for that loading and adjust Ackerman to achieve the optimum angle for each front tire. Lots easier to do if the turns are the same, over and over like an Oval track. You need tire slip angle to load data or loads of experimentation to get anywhere.
David
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