Steering

[a1call]

Steering from the back is generally more efficient and allows tighter turns. The only good reason for cars to steer from the front is as explanted with rear drive early design complexity. If cars were designed to steer from the front it would make parallel parking much easier (no need to back up). One engineering issue that would have to be tackled is that tighter on the dine turns would make the vehicles less stable at high speeds.
ETA
A few years ago one of the car manufacturers (Honda, I think) advertised a feature were back wheels would partially rotate to facilitate turning. It was never repeated or continued, I assume due to instability issues at high speeds.
I have heard that fire engines do have rear steering capabilities.

[thyw]

-Couldn't collect my thought in a structured way. Lots of ideas, all related.- Using friction and drag almost interchangeable, not sure.
I think it related to friction, how easy it is to turn the vehicle. Most of the drag will occur at the wheels, and by changing the front wheel's direction, the rear ones are enforcing it at the back. Only 2 places with support, so the 'turning support' will be one of it. In non-ground vehicles, the weight center is the seesaw's support, since the weight distribution is more significant with less friction, and "force are accelerating weights".
And unless you are touching the ground, you can only rely on friction - indirect steering (or different force directions in space). It is a lot harder to turn when you are not touching anything, cars don't need the help of rear steering.
When using a not ground vehicle, it is pushing back either the surronding material (water, air) or drop material to push itself away (space). Newton 3. So propulsion should be at the back to avoid moving more material than needed (pushing the front instead of pullinng the back). And steering with drag still uses Newton 3.

[retina]

Originally Posted by thyw

... friction ...

Yes.

If the thing you push against is moving (water, air, or slippery wheels on a surface (like ice for example)) or non-existent (space (i.e. your own exhaust)) then steer from the back. If the thing you push against doesn't move (solid ground with good grip) then steer from the front.

And, yes, of course, you can do the opposite if you wish to, but you make your life more difficult with regards to steering and stability.

[kladner]

https://en.wikipedia.org/wiki/Dymaxion_car

The Dymaxion's aerodynamic bodywork was designed for increased fuel efficiency and top speed, and its platform featured a lightweight hinged chassis, rear-mounted V8 engine, front-wheel drive (a rare RF layout), and three wheels. With steering via its third wheel at the rear (capable of 90° steering lock), the vehicle could steer itself in a tight circle, often causing a sensation.[9][10] Fuller noted severe limitations in its handling, especially at high speed or in high wind, due to its rear-wheel steering (highly unsuitable for anything but low speeds) and the limited understanding of the effects of lift and turbulence on automobile bodies in that era

The car tended to turn into high winds. With Prototype One "Fuller claimed to have achieved fuel economy of 36 mpg (7.8l/100 km) and to have reached a speed of 128 mph (206kph).[19]"
BTW: The car Retina mentioned was the Honda Prelude.

On April 9, 1987, the third-generation Prelude was released in the Japanese domestic market and released later that year worldwide, being a 1988 model in North America. Featuring evolutionary styling from its predecessor, it shared design cues from the Honda NSX that would be introduced later in 1989. The Prelude featured innovative features for its time such as a 0.34 drag coefficient, roof pillars made of high-strength metal and its signature feature, the available option of the world's first mechanical four wheel steering system available in a mass-production passenger car. Honda had expected 30% of buyers to plump for four-wheel-steering, but the car was a runaway success in the home market and 80% of buyers did in the first year.[11]