How does one build a dynamic steerable vehicle?

[lakshjaisinghani]

I want to build a simple vehicle with a chassis and wheels, but I'm facing many issues. This is where I've gotten so far.

The rear wheels are simple, just a revolute joint connected to the chassis. But simply using joints for the front wheels is causing me to overengineer solutions. I'm sure there's a better way to do it.

Currently, I first used:
Wheel -> Revolute Joint (X-axis: for wheel spin) -> Box -> Revolute Joint (Y-axis: For steer).

This still caused weird behavior with the wheels tipping in an axis I don't want, so I played around with Mass properties to no avail. I then added two steering racks (red and blue in the image) to limit the tipping, but that didn't help either.

How can I solve this wheel tipping issue?