Do the front wheels of your car really meet Ackermann's principle when driving in a bend of the road?

In the past, a trapezi-formed four-bar has often been used to realize the unequal turning of these wheels. Geometrically, however, this deviates considerably from the required (relative) motion as dictated by Ackermann's Principle. A better mechanism to approximate this principle would be a six-bar (focal) linkage that is to be derived from a crossed Chebyshev four-bar. The six-bar then has a common crank, driving each wheel through a crank-and-rocker mechanism. An additional advantage would be the possibility to choose the location of the fixed center about which the common crank rotates. This freedom enables the designer to interconneet its steering wheel and fusée-mechanism in a more convenient way