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you don't do max turning in real life, do you? if you do, you either lose control or have extreme understeer as front wheels just drag instead of rolling. it's common sense to turn less than max.
i use controller and i can drive very smooth with any vehicle, however i had to adjust some settings in control or whereever those things are. adjust everything that has to do with steering, there are many settings. i don't remember all of them from head, but i do remember i was fiddling with them for days before i got it right.
things like steering linearity, deadzone, acceleration, sensitivity ..etc
you need to adjust all those settings in a way that your physical steering wheel is synced with car wheels. I say wheels, because in-game steering wheel does a good 2 spins (like in real life), but steering wheels (hardware for pc) can only do like half a turn or so. i've had 2 and both only turn like half way (90 degrees), that's why you need to sync it with car wheels. just look at car wheels and turn your steering wheel.
this also means you have to adjust acceleration and sensitivity in a way that if you turn steering wheel really fast, then car wheels turn really fast aswell.
that's best setting in any game.
Go to OPTIONS > CONTROLS > FORCE FEEDBACK, and click on XAXIS. Fix your steering angle as per recommendations then, go to "1:1 behaviour" and read carefully, because this is where you can manage the mismatch between the angle of your actual wheel and that of your car.
Or maybe, as you say, there needs to be a little braking technique adjustment...
Ive seen people crash IRL a lot slower than 55mph
Tune the car settings