Steer-by-Wire (SbW) technology has recently emerged as one of the most transformative advancements in vehicle steering architecture. In SbW systems, mechanical linkages between the steering wheel and the cornering wheels are entirely removed, replaced with electronic sensors, electric actuators, and control units. Continuously variable steering ratio and various degrees of steering response can therefore be achieved with respect to vehicle speed, bringing comfort during low speed maneuvers in urban driving conditions as well as improving handling stability and safety in highway scenarios. However, replicating an intuitive steering feel for the driver upon steering wheel angle and road feedback has posed a huge challenge. This paper introduced a steering feel emulation control mechanism based on a push–pull principle using nonlinear helical coil springs and a DC geared motor to produce the desired feedback torque. An experimental apparatus was built in conjunction with a two-loop control scheme: an outer–loop PD controller to make steering torque track the reference steering feedback torque, and an inner-loop PID controller for motor current control. Experimental results significantly confirmed the viability of the proposed push–pull mechanism for replicating steering feel in SbW systems, establishing guidance for cost-effective testing methods that support future advancements in SbW technology.