[Overdriven]

You could just stand up a servo so the shaft is vertical, stick a saver on it and connect the tie rods. That'll take car of the linkage part. I think touring car suspension is probably what you'd want to keep it narrow. Make custom arm mounts to keep the geometry right when you reverse the knuckle for the front steer setup.

Edit: Take a look at the steering setup on a Tamiya Hornet to get a visual on the steering linkages.