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Kia ora! I'm not sure if this is helpful but my approach is to think of tasks in two general ways.
One way is to apply logic to the item you want to move, like the front or rear wheels so they behave like a real vehicle - they roll forward and backward and they can turn around the vertical (y) axis for steering. That's what @OregnaSpindle is talking about below using splitters to separate the + and - values from the controller sticks and make velocities along an axis forward-moving and backward-moving.
Another way, which is kind of digital trickery, is to apply some logic to the whole vehicle. For instance, real steering logic might be fine but you might want to subtly rotate the whole chassis (which wouldn't happen in real life) using a rotator to supplement the wheel logic. This would also require some splitter logic.
This is the kind of thing I would need to dabble with myself to see what works. Remember there is often more than one way to achieve the same outcome when using logic so if something isn't working try another train of thought. Be ready to make mistakes and learn from them :)