a different rack and pinion question

Ackerman might not be it. I'm simply saying it's a geometry issue. When you turn the parts around with the steering arms pointing ahead, it screws stuff up. There has been TONS written about it here. One thing documented "this problem causes" is interesting tire squealing when attempting to back up when in a turn.

Believe me, and you can BELIEVE me, if this was easy, it would be "doing done." There's been LOTS of threads on this here some time ago.