<p>This work studies the influence of steering on wheel shimmy oscillations for four combinations of tyre characteristics that include oversteering and understeering setups. A model governed by 10 state variables is first established to capture the influence of steering motion on shimmy, where an experimentally-validated shimmy model considering steering inputs and Ackermann geometry is combined with a tricycle model of the vehicle body, alongside transient tyre behaviour capturing tyre slips. Shimmy in straight-ahead motion is first analysed. This analysis reveals that quantitative and qualitative changes may occur in the shimmy response as a result of including the vehicle body in the model, highlighting the importance of considering the vehicle body’s motion in future shimmy research (even without steering motion). During steady-state cornering, it is found that the sharing of lateral tyre forces with turning motions mitigates shimmy as steer angle is increased: the tyre’s capacity to drive shimmy oscillations is reduced. Finally, with the help of time-history simulations and two-parameter continuation, it is observed that when oversteering instability occurs for certain tyre characteristic combinations, the interaction between shimmy and body dynamics leads to complex dynamic responses that may involve multiple limit cycles and sudden transitions from shimmy to body oscillations.</p>