If you want a four-wheeled robot that steers like a car, here is a simple design that you can use or build upon. Because it uses two rear drive motors, it steers best if you apply "steering" (different motor speeds) to the rear wheels in addition to angling the front wheels.

Two programs are provided. The autonomous program has custom My Blocks to go straight and steer, which you can easily use to program your own motions. A remote control program is also provided.