Custom steering vehicle in CARLA

I’m new to CARLA and I wanted to know if it’s possible to add a vehicle that uses a custom steering method. It’s a 4 wheeled articulated vehicle with which turns by rotating a movable joint localized in the middle. Does CARLA support non-standard vehicle steering like this? I tried to find something on internet about this but every tutorial is based on a conventional 4wheeled ackerman vehicle.
Kind Regards