As we can see, he really copied my whole story. Apart from the extremly uncooperative and most likely illegal (related to AOG) behavior, it’s a nice idea to have this or a similar kind of self-learning function in the public trunc of AOG as well. At least in the German Telegram group, nearly every newbie is asking how to set up all the steering parameters in the beginning. And then, everybody tells his gut feeling…
And of course a good chance to turn the table… 
The teaching may detect the following parameters:
- turn radius/max. angle left/right
- breakaway torque/min PWM for the steering wheel motor (may differ left/right)
- max. delta WA/delta time
- step response of the steering system (mathematical basis for a good steering control)
I can offer to contribute to the community adding the steering wheel angle sensor to the Nano code as my PCBA is fully supporting the use of that sensor + WAS or CAN. And doing some testing of course.