Mercedes-Benz introduced a four-wheel steering system for the first time in a military vehicle, the VL 170, in the 30s of the last century. This allowed the steering system to rotate both the front and rear axles in the opposite direction, reducing the turning diameter.
The first street model to adopt this system, with electronic control, was the Honda Prelude from 1988. In the 1990s, Citroen introduced the ZX, which had a rear axle that can take advantage of the inertia generated by the curves to "transform" its rear suspension and generate a directional effect.
Several years later, Renault returned to using this system in the Laguna GT, launched in 2007. Today, many sports cars are taking advantage of it to improve the behavior in fast laps, as is the case with the Porsche 911.