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You'll need to go in the 'Vehicles' section, find Accelerate/Brake/SteerRight/SteerLeft and change them to what you prefer.
Note that this could conflict with the free-camera, as it uses WASD by default (Still, you can remap that from the 'Controls' menu, but you need to tick the 'Advanced Controls' box on top of that menu to see it in the list)
Are assigning the correct bindings to WASD?
Option > Controls > Bindings.
Simply replace the Accelerate, Brake, Steer Left/Right bindings from the Arrows keys to what you prefer.