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I see what you mean. My idea(s) stem from the fact that all my experience with rear steer is from the heavy equipment or Agriculture realm, and that means hydraulic. I knew that this limitation in knowledge would have to be addressed prior to advancing from the the theoretical.
My idea was to just do the last axle so you would have the middle static. Yes I would put it in the same way as the front so caster should hopefully want to keep it straight. The front may be shorter but I was planning on just running the rim flipped the same way as the front so the track would...
I dont have years of experience dealing with the rockwell axles found in the 5 tons like some on this forum, but by looking at the dual front and rear input/output flanges it seems like it would be a natural to swap in a front axle to the rear for rear steering. I cant be anywhere near the first...