Is there a way to use constraints to make this look smooth like in real life? (R15)

The steering does not look realistic at all, is there a way to use constraints to make this look smooth like in real life?

This is when the character is using the steering wheel.

--[[Dependencies]]

	local player = game.Players.LocalPlayer
	local mouse = player:GetMouse()
	local UserInputService = game:GetService("UserInputService")
	local car = script.Parent.Car.Value
	local _Tune = require(car["Kart_Chassis_Tune"])
	
	--NEW
	local character = player.Character
    local LeftArm = character:FindFirstChild("LeftUpperArm")
    local RightArm = character:FindFirstChild("RightUpperArm")

--[[Shutdown]]

    car.DriveSeat.ChildRemoved:connect(function(child)
	if child.Name=="SeatWeld" and child:IsA("Weld") then
		
		script.Parent:Destroy()
		
--NEW		
		character["LeftUpperArm"].Transparency = 0
        character["RightUpperArm"].Transparency = 0

        local Weld = car.Misc.Wheel.A:FindFirstChild("NewWeld")
        local Weld2 = car.Misc.Wheel.A:FindFirstChild("NewWeld2")

		if Weld ~= nil then
			Weld:Destroy()
		end
		
		if Weld2~= nil then
			Weld2:Destroy()
		end 
	end
end)

car.DriveSeat.ChildAdded:connect(function(child)
	character["LeftHand"].Transparency = 0
	character["RightHand"].Transparency = 0
	
	local W = Instance.new("Weld")
	
	W.Part0 = RightArm
	W.Part1 = car.Misc.Wheel.A
	
	local CJ = CFrame.new(car.Misc.Wheel.A.Position)
	local C0 = RightArm.CFrame:inverse()*CJ
	local C1 = car.Misc.Wheel.A.CFrame:inverse()*CJ
	
	W.C0 = C0
	W.C1 = C1
	W.Parent = RightArm
	
	local Y = Instance.new("Weld")
	
	Y.Name = "NewWeld"
	Y.Part0 = car.Misc.Wheel.A
	Y.Part1 = RightArm
	Y.C0 = CFrame.new(0.2,-0.9,-2.5) * CFrame.fromEulerAnglesXYZ(-0.01, 1.5, -1.8)
	Y.Parent = Y.Part0
	------------------------------------------------
	
	local W = Instance.new("Weld")
	
	W.Part0 = LeftArm
	W.Part1 = car.Misc.Wheel.A
	
	local CJ = CFrame.new(car.Misc.Wheel.A.Position)
	local C0 = LeftArm.CFrame:inverse()*CJ
	local C1 = car.Misc.Wheel.A.CFrame:inverse()*CJ
	
	W.C0 = C0
	W.C1 = C1
	W.Parent = RightArm
	
	local Y = Instance.new("Weld")
	
	Y.Name = "NewWeld2"
	Y.Part0 = car.Misc.Wheel.A
	Y.Part1 = LeftArm
	Y.C0 = CFrame.new(-0.2,0.9,-2.6) * CFrame.fromEulerAnglesXYZ(0.93, 1.8, -2.2)
	Y.Parent = Y.Part0
end)