How to tune angular velocity using teb_local_planner?

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I have a robot which is AWD and can have from 1 to infinite number of wheels on rear axis that simply drive forward/backward and 1-2 wheels on front axis that can also turn in either direction making my robot a car-like robot.

I do not want to dive into kinematics of Ackermann drive and I really appreciate that some people actually made open source packages for it like Teb Local Planner.

I came across this tutorial for car like robots: LINK

And I wonder about 1 thing:

1. How to tune the angular veolcity of turning 2 front wheels? I mean I have a servo motor that can turn the wheels in two directions but how do I know that I am turning them in a right velocity? There is no PID like I would do no moving forward wheels