An agricultural mobile machine, comprising: a frame; a set of front ground engaging traction elements (114, 116) movably connected to the frame; a first steering actuator controllable to steer the set of front ground engaging traction elements (114, 116); a set of rear ground engaging traction elements (120, 122) movably connected to the frame; a second steering actuator controllable to steer the set of rear ground engaging traction elements (120, 122) independently of the set of front ground engaging traction elements (114, 116); characterized in further comprising a sensing component (126, 128, 130) configured to sense a distance from each ground engaging traction element (114, 116, 120, 122), in the set of front ground engaging traction elements (114, 116), to an adjacent crop row and to sense a distance from each ground engaging traction element (114, 116, 120, 122), in the set of rear ground engaging traction element (120, 122), to an adjacent crop row; and a steering control system that generates a first steering control signal to control the first steering actuator to steer the set of front ground engaging traction elements (114, 116) based on the sensed distance from each ground engaging traction element (114, 116, 120, 122), in the set of front ground engaging traction elements (114, 116), to adjacent crop rows, the steering control system generating a second steering control signal to control the second steering actuator to steer the set of rear ground engaging traction elements (120, 122) based on the sensed distance from each ground engaging traction element (114, 116, 120, 122), in the set of rear ground engaging traction elements (120, 122), to adjacent crop rows (102, 104, 106, 108). a frame; a set of front ground engaging traction elements (114, 116) movably connected to the frame; a first steering actuator controllable to steer the set of front ground engaging traction elements (114, 116); a set of rear ground engaging traction elements (120, 122) movably connected to the frame; a second steering actuator controllable to steer the set of rear ground engaging traction elements (120, 122) independently of the set of front ground engaging traction elements (114, 116); characterized in further comprising a sensing component (126, 128, 130) configured to sense a distance from each ground engaging traction element (114, 116, 120, 122), in the set of front ground engaging traction elements (114, 116), to an adjacent crop row and to sense a distance from each ground engaging traction element (114, 116, 120, 122), in the set of rear ground engaging traction element (120, 122), to an adjacent crop row; and a steering control system that generates a first steering control signal to control the first steering actuator to steer the set of front ground engaging traction elements (114, 116) based on the sensed distance from each ground engaging traction element (114, 116, 120, 122), in the set of front ground engaging traction elements (114, 116), to adjacent crop rows, the steering control system generating a second steering control signal to control the second steering actuator to steer the set of rear ground engaging traction elements (120, 122) based on the sensed distance from each ground engaging traction element (114, 116, 120, 122), in the set of rear ground engaging traction elements (120, 122), to adjacent crop rows (102, 104, 106, 108).