[wilkin250r]

Ok, so the reason for a differential is because when you turn, the outside wheel travels further than the inside wheel, right? So the wheels need to be able to spin at different speeds.

The Ackerman effect is basically the next step. If you are steering, and the outside wheel is traveling further than the inside wheel, then the two wheels aren't tracing along the same circle, right. Therefore, they should not be angled the same amount.

The Ackerman effect will be built into the geometry of the steering components, I don't think it's an issue you need to worry about.