I just bought a firetruck for a custom overland build!

I absolutely agree, don’t even think about adding rear wheel steering even if Tulsa Truck or similar would agree to do it, which is doubtful. With 1 exception:
These people do factory RWS on UGE series Unimogs like U530. If they’ll do it on a highly used vehicle it will work properly and be safe.
Your bank account will be in severe jeopardy however.
 

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