It’s actually pretty hard.
As a rule of thumb, the camera should not be fixed with regard to the vehicle, else it feel “stuck”.
Something what works well is to point the camera towards the point the car will be in a second. When on the road you assume the player will follow the road, but when outside the road it’s harder. You assume the car will continue turning and moving at the speed it is moving. That’s why the camera is more annoying when the car just stopped, it does not know in which direction you are going to go next.
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