4 non-turning wheels seems a problem

Hi, I’m currently running into an issue with my kinda-car model, because it needs to turn in a specific way. It’s not a regular car, I NEED this vehicle to turn like a tank (one side is reverse to the other) by using friction on the wheels (that’s how they change position around the pivot center of the model). My wheels are supposed to act like Mekanum (omnidirectional) wheels and looks like this (isn’t my work)

I have no idea how to program such a thing with nodes. I don,t need the special rolling factor on the wheels I can do with reduced diagonal fiction.