Does it solve the ODE rear-wheel-steering bug?
no, but you can cut it down by having small ode steps but iterate them... like,
instead of a single "Ode_update(.2)" do two "ode_update(.1)"
All attempts to fix the rear wheel steering issue other than iterating ODE failed. The best bet was always to keep ode values smaller by only updating it in smaller amounts but more times.
And because you update in small amounts and force the steering, you dont get any odd steering happening or rear end sliding without skid. Its a much better simulation for it.
The down side is that if you change the iterations, you have to multiply weight and modify suspention values. Personally, i just found the perfect value and designed my cars to that.