I was thinking something along the lines of this vehicle AI tutorial that is used within an RTS game within unreal engine 4.
The timestamp in the video below is the part where he deals with the steering for the car and yeah your idea with finding the amount of steer with the angle is a similar idea in order to find the steer float of the vehicle to move the vehicle to the point.
The good thing is that the coding in unreal engine 4 in this case is done visually in block coding and so it’s simpler to understand the pure logic behind the code.
An additional thing to consider is what happens if the target point is behind the car. If so then the direction of steering will also need to be different which the video talks about.
Yeah, basically it’s all if statements telling the car when to steer left and right or move forwards/backward in relationship with the target point in order to reach the goal.
Perhaps this resource will come in helpful to construct the behavior of the car in order to reach the target point since we are dealing with ai here as if we were driving the car ourselves.