Steering system (10, 510, 610, 710, 810, 910) for a vehicle, in particular for an autonomous vehicle, the steering system (10, 510, 610, 710, 810, 910) comprising a steering system support column and a steering wheel arrangement having a central axis; wherein the steering wheel arrangement includes a steering wheel having a steering wheel rim (13, 413) and at least one spoke, a steering wheel hub fixedly connected with the steering wheel and extending from the steering wheel towards a dashboard of the vehicle, the steering wheel hub and the steering wheel being rotatable about the central axis, a torque feedback device including an electric machine having a rotor and a stator, the rotor being attached to the steering wheel hub and being rotatable about the central axis, and the stator being fixedly attached to the steering system support column which is non-rotatable about the central axis, a steering wheel center part including an airbag module arranged inside the steering wheel center part and being provided with a plurality of steering wheel controls (104A to 110B), the steering wheel center part being fixedly connected with the steering system support column or the stator so as to be non-rotatable about the central axis; wherein the steering wheel arrangement is column stalk control free, and wherein the steering system (10, 510, 610, 710, 810, 910) is moveable so that the steering wheel arrangement is reversibly retractable in a direction towards the dashboard of the vehicle and extendable in a direction away from the dashboard of the vehicle, wherein a rear surface of the steering wheel that faces the dashboard of the vehicle is formed at least partially complementary to a dashboard front surface facing the rear surface of the steering wheel, and the steering wheel rim has a non-planar shape, wherein at least one portion of the steering wheel rim is curved towards the dashboard of the vehicle. a steering wheel having a steering wheel rim (13, 413) and at least one spoke, a steering wheel hub fixedly connected with the steering wheel and extending from the steering wheel towards a dashboard of the vehicle, the steering wheel hub and the steering wheel being rotatable about the central axis, a torque feedback device including an electric machine having a rotor and a stator, the rotor being attached to the steering wheel hub and being rotatable about the central axis, and the stator being fixedly attached to the steering system support column which is non-rotatable about the central axis, a steering wheel center part including an airbag module arranged inside the steering wheel center part and being provided with a plurality of steering wheel controls (104A to 110B), the steering wheel center part being fixedly connected with the steering system support column or the stator so as to be non-rotatable about the central axis; wherein the steering wheel arrangement is column stalk control free, and wherein the steering system (10, 510, 610, 710, 810, 910) is moveable so that the steering wheel arrangement is reversibly retractable in a direction towards the dashboard of the vehicle and extendable in a direction away from the dashboard of the vehicle, wherein a rear surface of the steering wheel that faces the dashboard of the vehicle is formed at least partially complementary to a dashboard front surface facing the rear surface of the steering wheel, and the steering wheel rim has a non-planar shape, wherein at least one portion of the steering wheel rim is curved towards the dashboard of the vehicle.