After making the wheels turn I then went onto making the front wheels turn. This was done in a similar way to the previous way of making the wheels spin. I first made the arrow using the curve tool however this time I made it double sided, then used the non linear bend again to put curvature into the arrow. After this I selected the arrow and clicked the group which had the wheel in and put an orient constraint onto the Y axis.
The image here shows where the pivot point is on the wheel for it to turn, it has to be on the inside so that it will correctly turn. I have also put a limit on the extent that the wheel can actually turn from left to right just like it would in a normal car.
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