If you full lock or keep a fixed amount in your steering and keep speed in your cars, you will drawing a circle by your wheels, and if we zoom in and consider 4 wheels, each one will draw their circle, specially, the two front wheels will draw a pair of concentric circle.
If we only consider the front-only turning, your wheels direction should always in the tangent line of the concentric circle.
You may heard a term called “Turning circle”, it is a metric to evaluate how easily a car make a U-turn. Most cars’ turning circle is around 10 m, while the most of 双向单车道 in UK usually less than 7 m width, it is not so much possible for a smooth U-turn.
To establish such geometrical intuition, you may notice your reverse image in parking camera will show a predict curve lines stretch from your rear bumper.
We didn’t talk about rear wheels in steering,
Wheelbase is also a very important metric for turning. Long vehicles, like bus or HGV, have a massive long wheelbase which leads a significant turning radius difference between front wheels and rear wheels, makes a region of death crescent, if you are not aware of such geometric sense, you may die from a careless long vehicle driving in a junction, so always give enough room from long vehicles, assume they may turning at anytime.