An opinion from different side of view

Setting the thrust angle to zero minimizes sliding friction during driving, generating only rolling friction. This is because the forward and backward vectors are independent during driving, and aligning the directions of these vectors results in a thrust angle of zero. Normally, a car with a thrust angle will move in a circular motion without steering input, but the driver will perform corrective steering to maintain a straight line. At this time, the caster action of the steering wheel comes into play, reducing the measured thrust from the front by about half, making it difficult to notice. While thrust should be zero whether measured from the front or rear, it is possible for only one to be zero; in this case, the measurement from the front should take precedence.