Looking for advice on designing steering

Hey there, I am looking for some advice on designing the steering of the MOC idea I have. Usually I'll just try different things out, but due to time constraints, the complexity and my relative inexperience with designing technic MOCs I was hoping to avoid a few dead alleys by asking here. So, I want to create a big, tracked rover with 3 axles, where Axle 1+3 are steering. I also want to include ackerman steering. Naturally I started with the 42069 Extreme Adventure as base. It has very good...