Your point may not be about COG or Rotation but I think you will find that when COR and COG match, roll changes allot. To put them both on top of each other is very good but a negative Ackerman would potential put one of them right on the mark. Do you know what happens when COR and COG align with 3 of the 4 tires? I dont but 4 on the dot seems to be extremely beneficial.