does rear wheel drive torque steer?

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Yes, but that’s far less common as these vehicles tend to not have the unequal length driveshafts common in front-drive vehicles, and the torque steer effect is not directly felt through the steering wheel.   Also, under acceleration there is a rearward weight shift which typically makes steering lighter and twitchier as it reduces camber which in turn reducing the ability of the car to track straight – a problem for front-drive vehicles, less so for rear or all-wheel drive cars.