I was kinda doing a thought experiment around if the two smaller linkages of the 3 links were somehow able to be moved around to change the angles while riding via a motor or knob. I am not thinking it would really work due to the other end of the smaller linkages is not being centered on the axle.
Hmm makes me think what if you put the two smaller rod ends bolted to the main bushing threads directly not on a collar. hmm. That almost seemingly would allow you to change the angle of the small links with simpler geometry. idk maybe I missed something there, oh right the force of the motors rotation is counteracted by the screw in the collar/axle keyway. so maybe only the front unpowered axle could have this angle changing feature?
Let me throw a model together to show what I just thought about.
I got sidetracked not answering your question directly but the issues with the idea above are seemings near the same as the issues you would have with making a gear driven linear actuator attached to the main steering rod.