From all my tests (I animated a traction engine) I found that following a curve was by far the best way to go. It makes it very easy to define the trajectory change the speed, accelerate, stop, reverse etc
Batfingers (stack exchange) method has many advantages to it, I recommend you recreate it your self to understand it properly.
The best bit about it is that you only animate the drive control object on one axis forward to go forward and backwards to go backwards. The curve defines all the turning round.
The drive control object can be a simple line of verts (I made an arrow shape to make more clear and easier to select.)
As the drive control object only animates in a straight line on one axis you do not get problems with the wheels switching rotation when you go over 180º. The wheels rotation depends on a driver that references the drive control’s real position (not its position following the curve).
The angle of the bone in front of the cabin is what gives the angle to turn the front wheels (my original example was more like a go cart (or the traction engine) where the front wheels turn via the axel, for a car there is no axel and they should turn individual on there own pivot.
I even used the turning angle to drive the steering wheel rotation of the traction engine!
If you are interested take a look at the videos I posted in the traction engine thread. (sorry for the self promotion but I am quite proud of it)
Have fun, vehicles are fun! 