My impression from the first picture in the article was that these might be so tightly coupled car-to-car, a single car tilting (L/R) into a hole might be impossible. More fancifully, imagine they were so tightly linked wrt front/back tilt, the land train could bridge gaps all by itself.

For those of us who don't understand engineering diagrams^1, could you write a summary of how it works?

^1: These are probably called schematics or something...

I did a quick Google. Play with some keywords, especially searching for images: drawbar steering-angle turntable dolly Ackerman train

The usual design is to use mechanical linkages to steer the wheels, with varying levels of complexity that have different compromises. A complicated double Ackermann example (scroll down for plan view): https://planindustrie.de/en/products/industrial-heavy-duty-d... and look at other products of theirs from the menu for simpler linkage examples.

Academic papers are about the design of linkages and turning paths, with consideration for tyre slippage, obstacle avoidance, following, etcetera. The more mathematical papers use an idealised world on a flat surface (ignoring: surface tilts; terrain elevation changes/steps; slippery or soft surfaces especially if variable). Some modern systems use computer controlled power and steering to wheels to help avoid the errors in reality of idealised systems. It is a huge industry, but we need a https://ciechanow.ski/ type person to give us a nice model to play with.

My total guess not based on the drawings - the wheels of the cars move with a certain delay as a reaction to its tow bar getting turned. I would assume this delay can be configured on a per-car basis because the cars farther back may require more compensation than the ones in the front.

Although I am calling it a delay, I assume the mechanism is mechanical and there is probably a better word to describe the action where the wheels do not turn at the same time or with the same severity as the tow bar.

Wheel-steering or axle-steering perhaps? Some actual locomotives have linkages to consistently steer individual axles to match the overal curvature of the track.