WAG/Accidental Ackermann!
Turns out that we have Ackermann (spelled with 2 N's)!! We take off the front cross bar and use the frame as the tie rod (the vertical shafts are the pivot points). The rear bar works for Ackermann because their pivot holes are inset slighly to the inside of the bot, pointing in the general direction of the rear axle. Obviously, it would be best to drill new holes that point exactly to the rear axle, but some Ackermann is better than completely parallel.