Rigid body physics car -> how to steer in a specific angle

I know how i can “rig” a car with physics, constraints and rigid bodies.

I can create a steering with motor and steer the car by that.

What i cannot do is: steer a specific angle of my wheels. Basically my result is always: steer to limit max angle or 0 angle.

Has anybody a clue/knowledge how to do that?

I know i can use an angular spring → but it never worked in a “good” way.

Maybe someone has a solution for that?

i also tried to keyframe the angle limits in the spring constraints → unfortunately Blender ignores changes keyframes in that case