When you’re moving forward, your front wheels are dragging the back wheels along. If you steer your front wheels into the parking lane and straighten out, as you move forward, the back wheels will gradually drift into the lane behind your steer wheels, but they’ll never quite catch up. Unless you oversteer in the first place— but that’s called driving onto the sidewalk, and usually discouraged.
This effect is much more pronounced with a tractor-trailer, and why learning to back one of those up accurately is something new truck drivers often struggle with.
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