Help with Hinge and steering wheels

First, this may seem like a dumb question, but I've been struggling with it for a few days now.

So, I'm making a quick project, just as some kind of programming skills demo. Right now, I'm adjusting the movement of my "vehicle"

I'm using hinges to keep the parts together, because the idea is to just set them loose when the player dies. This is not the issue, tho.

I'm using a hinge joint to keep them together and allow spinning, so it's moving forwards and backwards normally, but I just cannot figure out how to make them steer left and right. I've tried configurable joint, and almost made it, but they just keep wobbling and sorta glitch the hinge out.

Can someone assist me, please?