When you are driving normally it’s like pulling a cart. The front wheels pull the car behind you and steer. The rear wheels can only ever follow (mostly) within the path of the front wheels.
When you go into reverse, it’s more like pushing a wheelbarrow. You can more or less move the front end around while the back wheels don’t move much. So you can turn the front end, push the back end into the spot, and then simply push the back in as you manuever the front end around.
The reason cant parallel park going forward has zero to do with front steering or fwd, on a flat surface you can parallel park fine going forward or backwards, the issue is when you are parallel parking with a curb, you can’t pull forward over the curb to straighten your vehicle but you can straighten it when you reverse into the spot.
In the 80s, my family went through a Honda Prelude phase. They were the first of the brief four-wheel steering craze to be sold in the U.S.
My dim memory from reading the manual when I was younger was that the rear wheels would turn the same direction as the front until a certain threshold, at which point they would turn the opposite direction and really make a steep cut into a tight spot.
Hopefully a car buff or expert can fill in the gaps here.
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