Making character drive a Car

Hi, I am working on different scenarios to blend characters with a game using Midi.

I covered a simple use case where we can describe how to eyeball the position to rotate a wheel

https://youtu.be/SngJeAi2bBg

But in that case, we have some limitations, so I am working on figuring out how the joint angles from the target position that moves in a circle (pic)

The question to the community. I am working on 1 or 2 arms with the shoulder joint and elbow joint.

Are there some characters in use that would need something on top?