Help with CylindricalConstraint

I am trying to make a vehicle turn, I will use CylindricalConstraint for it, but it seems to have “freedom” of rotation, which causes instability in the steering control.
Does anyone have any recommendations to make a solution?

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If you want more stability consider scripting suspensions and steering from scratch using vector forces.

In fact, I just did that, but now the problem is the direction of the car

If your car is 100% scripted then why use constraints?