Hi Mr Foundry, good to have you on board. Looks an interesting project. Simplest way to do a half-track would be to have ordinary tank steering on the tracks and spring-loaded steering at the front so the wheels follow the tracks. That said, the brakes/diff solution is most authentic but you lose a lot of power on the turns and you've not got a lot of room for bits and pieces under the 1/2 track.
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