If you are using Ackermann steering geometry

1. Turning circle, link lengths & inclinations

Source: STEERING MECHANISMS | Kinematics of Machines Tutorials – Engineering Tutorials

Here’s an illustrative calculation…

The Ackermann Principle as Applied to Steering (Automobile)

2. Providing for required wheel turning angles in the steering linkage & wheel envelopes.

Source: Steering Systems (Automobile)
3. Steering ratio calculations

Source: ThyssenKrupp InCar®plus
4. Sizing of links and joints as per steering & road loads

Source: Steering Rack And Pinion Calculation Step-by-Step Plans

If it is not necessarily Ackerman geometry and you are undecided, have a look at this comparison…

http://www.me.ua.edu/me364/PDF/S…

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