A dynamic joint structure (DJS) for movably connecting a wheel set to a chassis of a vehicle, and a vehicle including a front such DJS and a rear such DJS. The DJS includes an upper suspension plate having at least one upper recess with an upper opening; a middle suspension plate having at least one middle recess with a middle opening; and at least one connector assembly including: (i) an elongated bolt defining an insert axis “Zi” along its longer side; and (ii) a restriction unit configured to restrict the movement of the bolt over an XiYi plane that is perpendicular to Zi, for enhancing translation of tilting movements of the chassis of the vehicle into steering movements of the vehicle's wheels set to which the DJS connects.