I’m sure someone has already answered you on this but for some examples Sherman tank had a braked differential and the tiger had a double differential. Some quick google searches will give you lots of information on how these systems work.
Luke here built one of if not the best boards around He definitely got those driving modes right and even added compensation for the TG/HL style gearboxes while driving. Check out the Open Panzer project when you get a few min to read...