You probably need to change the problem. Instead of doing real time control of the steering wheel and speed you probably need to let people click where they wan

You probably need to change the problem. Instead of doing real time control of the steering wheel and speed you probably need to let people click where they want to go, and then let them watch the car drive there before the make their next click. Switch to a turn-based game feel and use the driving time and the decision making time to hide the latency.