Is there a better way to write this steering angle in Unity to make it feel more natural?

Currently I'm using unity's wheel colliders to create a car in a game that's meant to feel more realistic or Forza esc.

Currently I'm simply coding it like this:

horizontal = horizontalInput * 40;

wheelColliders[0].steerAngle = horizontal;

wheelColliders[1].steerAngle = horizontal;

using this it feels unnatural and sharp while driving, also the turning angle feels lackluster.

Any help on how I could improve would be greatly appreciated, thank you.

You could add a PID controller. They are used in real cars for steering and breaking assists.

[Serializable]
public class PIDController{
	[SerializeField] public float p;
    [SerializeField] public float i;
    [SerializeField] public float d;
	private float oldError;
	private float integralSum;

	public float Update(float dt, float current, float target) {
        float error = target - current;
		float P = p * error;

		float errorChange = (error - oldError) / dt;
		oldError = error;
		float D = d * errorChange;

		integralSum = integralSum + (error * dt);
		float I = i * integralSum;

		return P + I + D;
    }
}

public PIDController pid;
public float steerAngle, acceleration, velocity;

/////////////////////////

horizontal = horizontalInput * 40;
acceleration = pid.Update(Time.deltaTime, steerAngle, horizontal);
velocity += acceleration * Time.delaTime;
steerAngle += (acceleration / 2 * Time.deltaTime + velocity) * Time.deltaTime;
wheelColliders[0].steerAngle = steerAngle;
wheelColliders[1].steerAngle = steerAngle;

I would recomend reading about PID controllers, but here is a quick guide:

• p is how strong you want your system to react
• d is how quickly you want your system to calm down
• i is how quick you want to force the system to reach the target