How do I make a arm that moves a steering wheel

Hello other developers , I need your help:
So I am working on a steering wheel system with a arm that needs to move the steering wheel.
Here is a example of what I am working on:
https://streamable.com/w334na
But I dont want to use constraints , instead I want to use local scripts, to make it a plugin for the a-chassis. If you got any ideas how I could make that, like a example code it would be VERY helpful. Thanks!

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After a lot of work and understanding how to use the open sourced module “inverse kinematics” I have made a system that does exactly what I wanted. Its not done yet but this is a aplha gameplay of the system . Please rate it:
https://streamable.com/f6ydsf

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