Your steering axle has got an angle sensor to reduce speeds and/or when steered max left-right it will power the drive motor like a differential.
This is normal.
Parameter for the amount of cutback is called curve cutback.
Parameter Steer table should be set at option #1

FO= motor stall, the encoder signal is constantly 0 when max torque is applied to motor. I'd check the motor encoders of the drive motors and do a steering sensor calibration in the vass section.

In some cases the mechanical connection between drive axle and sensor is lost, worth checking that too.