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* Remap the keyboard controls to be q,a; e,d; and leave the rest as is
* Assign the magnets to use t and r
* Assign the left (viewing from the back) swivel 90s to q,a
* Assign the right swivel 90s to e,d
then you basically have tank controls. I made a legged beast with tank controls myself earlier today so it was fresh in my mind.
Here's a video of your creation with the adjusted controls. You should be able to update your workshop item with them if you want.
https://www.youtube.com/watch?v=5X9E0QZD0f8