How to turn a car like in real world?

Basically when the car is turning, all four wheels' axes meet at a single point. Since the rear wheels are (usually) fixed, this point will lie on their shared axis. Try placing a point on this axis and align both front wheels' axes in that direction. You will notice that they are not turned by the same angle - and that's correct. When you do this, you can then rotate the whole car around this point. You can see it in action HERE