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Toyota has a patent application with the USPTO describing a vehicle where all four wheels can turn, enough so that the wheels can all point laterally allowing for sideways movement (e.g. sliding sideways into a parallel parking space). It can also allow the wheels to rotate to allow a zero-radius turn (like Rivian's Tank Turn) or even for diagonal movement.

The patent describes how each wheel is mounted to a structure that allows a wide angle of rotation (think like the castor wheels on an office chair). Each wheel has its own hub motor that stays inside the vehicle body, so the wheels likely won't turn a full 360 degrees.

The patent itself isn't specifically about the turning mechanism but focuses rather on how turn signals can be used to indicate all these new ways of movement.

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