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https://youtu.be/zWkoy5hP858?t=4m5s
Especially with the German tanks, which at least since the Tiger 1 drove a lot like cars, so I'd imagine they worked a lot like them. They even had steering wheels instead of levers for each track.
Action of the steering Control:
When the steering lever is in the extreme forward position, the force of the compensating springs is transferred through the rollers to the bracket. On pulling the steering lever backwards the spring pulls the forked lever forwards and disengages the steering clutch. When the roller reaches the end of the ramp of the hook the disengagement of the clutch is completed and the force of the clutch spring is transferred to the bracket. All the force exerted by the driver is now used to operate the brake. A fixing device is provided to hold the brakes on. - T-34 service manual on the steering levers.
As for the Tigers and Panthers, I would have to look that up some time. I'm not quite sure what they had in terms of breaks, but I know they did also have steering levers as well as the wheel as backup.