Thank you so much for all
Thank you so much for all the shared data. It helps me a lot to understand what I can plan next with my very basic 4WD platform.
It looks like you managed the turn in a better way than me.
My problem is very common: I can’t just apply reverse orders on left and right side like a tank 
From what I read in your sketch, you have an individual control on each motor ?
I started with a Romeo board that includes two DC Motor Terminals. Maybe it’s time for me to learn how to build a H-Bridge 