Basic question: 4 wheeled robot turning

Let's Make Robots Beginners
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Hello! I am new to robotics, and I need a basic clarification:
I know that robots with 4 wheels (each wheel having a geared motor attached) can do skid turns and turn in their place, but what I want to know (cant find any reference anywhere) is if they can do smooth (non zero radius) turns without skipping around… Say you are going forward in a straight line, can you just do a 90 degree turn without stopping (perhaps slow down a bit, that’s fine)? what about micro adjustments (say 5 degrees)?

The robot would be climbing a smooth incline (20 degree smooth white wood, plastic laminated or heat painted), so I think the wheels need to be a bit grippy, but perhaps not too much.

Any input is appreciated.

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@AnasMalas For the benefit of others, I’ll post what I did in Chat here:
They absolutely can do non-zero turns provided the motors on each side are operated independently (vary the speed of each to get a non-zero turn) however the problem with 4WD, 6WD and tracked robots - they’re always “skipping” since the wheels are never aligned with the curved path. For example the maximum payload of the A4WD1 allows for gentle turning and forward / reverse motion, but turning on the spot is problematic. Yes, you can do a 90 degree turn without stopping by either cutting the power to one side or stopping and reversing one side. The more “grippy” the tires, the harder it is for the base to turn.