This paper addresses the kinematic design of a steering mechanism adapted for a three-lane vehicle equipped with three rear steering wheels. Traditional Ackermann steering principles have been extended to accommodate the added complexity introduced by the third wheel. The third wheel increases the system’s design parameters, presenting challenges to the design process for linkage designs. In designing a six-bar linkage (WATT II mechanism), large-scale parameter variation was analyzed to identify the ideal steering relationship between the wheels and the influential parameters for this. The analysis revealed that asymmetric configurations improve alignment with the ideal Ackermann condition, achieving maximum deviations in the order of \(\mathcal {O}(0.1\,^{\circ })\) for steering angles between \(-30^{\circ }\) and \(30^{\circ }\) . The additional design parameters allow for a variety of parameter combinations that result in a very good representation of the Ackermann condition.