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But the yoke (or wheel) also needs to give you the whole usable control range of the car. At very low speed this means the 1/2 turn from lock to lock yoke must reproduce the steering motion of the existing Model S, which is 2.05 (round it to two) turns from lock to lock. That leads to one quarter the leverage and four times the steering effort, which requires four times the power steering boost relative to the human input force to overcome at low speed. Power steering had better not fail, but then it’s not good if it fails in an ordinary heavy car too.
It would be extremely dangerous if the steering maintained the same very quick ratio at high speed, so the ratio needs to be variable: so variable that I’m not sure a mechanical system could do it. The steering likely has to be by wire..