Techniques are described for estimating surface friction coefficients using lateral force excitations of one or more rear wheels of a rear wheel steering vehicle. In one example, a computing system is configured to cause excitation of a rear wheel using a lateral force that causes the rear wheel to initiate turning. The computing system may determine one or more slip angles that result from the excitation and determine a relationship between the lateral force and the slip angles. From the lateral force and slip angle relationship, the computing system may estimate the friction coefficient of a surface and may cause maneuvering of the rear wheel steering vehicle, or of another networked vehicle, to be based at least in part on the friction coefficient estimated for a particular driving surface.