I own a tandem trailer.
Three axles aligned like that it would want to go in a straight line whatever you did with the front wheels, particularly in mud, snow and sand.
For fourth axle steering, you would have the rear axle following not steering, it could be programmed with sensors detecting the amount of pressure on the drag ling which would then apply a little turn on the rear axles using a hydraulic ram or linear actuator connected to the drag link. (or a mechanical linkage with ratios in the order of what Dave suggests)



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