Ways to incorporate steering into a vehicle?

I've asked this question once before but nobody answered, so here's my second attempt.

I've tried using servo in hinge constraints and that isn't all that great. I'm using BodyAngularVelocity to turn it as it's more smooth and all but it isn't the best method. It makes the vehicle feel like a balloon but it gets the job done. Does anyone know a better method of making vehicles turn without using either of these options above?