CAN bus steering control issues

I am a member of a team of students from the University of Moratuwa Sri Lanka who are involved in a self driving car project aimed at developing level 4+ autonomy. We are in the phase of selecting the necessary materials for the realization of our project and are in doubt about CAN bus manipulation for steering as many who have tried indicate that the control is not smooth or that it is limited in the degrees which the wheels can be turned. Would someone on this forum please verify this. Any insight which could be provided will be highly appreciated.

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