Wiring Wiper Motor Servo for steering RC Car with Sabertooth Controller

Hi all. New here and new to robots so please forgive my ignorance and be patient while I try to get up to speed with this new hobby. I am much more mechanically inclined than electronically.

I am building an RC car for my son using a transaxle wheel chair motor (single motor) for the driven wheels in back and I am trying to use a wiper motor in conjunction with a standard hobby servo for steering. I have an armature connecting servo to the wiper motor for feedback. I have the wiper motor wired into the sabertooth as motor 2 and have disconnected the servo brains from the servo motor but I am not clear on how to finish wiring this up. I have found tutorials on line using other h-bridges but given my neophyte status I am not sure how to apply to the sabertooth.

Examples below for what I would like to do … just with my sabertooth instead of the IBT-2 h-bridge in the video.

Example 1
Example 2

Thanks in advance and looking forward to learning here.