around 100rpm of steering wheel is good. So if you will use gears you can make gear ratio so you get around that value. 200rpm motor 2:1, for 600 6:1 etc.
68.2€ |60Mm Geborsteld Planetaire Gear Dc Motor 12V 24V Cw/Ccw High Power Hoge Koppel 60PG60S As 12Mm Spiebaan Motor|DC Motor| - AliExpress
This motor (950rpm) should have 2x torque then 24v 5.1 kgcm phidgets that is often used for AOG. At load rpm 665 so 6:1 or 5:1 ratio.