Planner for Car-Like Robot

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Let me begin by saying that I have done my obligatory "google-ing" and I know there has been discussion, but I have not found a satisfactory answer and therefore I am asking here ...

I am trying to come up with a solution for path planning for a large, custom UGV (essentially a drive-by-wire utility vehicle). I understand that the ros nav packages generally do not support "Ackermann steering" vehicles. I would like to solicit opinions on how I should proceed, here are a couple paths forward that I can see ...

1) Write custom base_local_planner and base_global_planners which take into account the kinematic constraints of an Ackermann steering vehicle

2) Use a library like MoveIt (is this even possible?)

3) Start from scratch and ditch move_base and everything inside

I see blog posts and such of people using ROS on their steered vehicles, but the documentation of such systems seems to be lacking. Any advice would be well appreciated!