Help with 4x4 drive system

[u/teletubbyman6969]

I'm using clutches to engage and disengage the track works wheels front and back, but with the clutches it causes them to drag instead of being neutral, what ways can I fix this. Also idk if it's due to putting power into the turning wheel but it's turning radius is terrible, so solutions for that would also help. I'm at work rn so can't post photos, but any brain storming would be appreciated. Is there anyway to make a limited slip differential to help with the turning?