An agricultural vehicle configured for traveling in a driven-wheel-leading mode and a caster-wheel-leading mode. The agricultural vehicle includes a first driven wheel and a second driven wheel, a caster axle, a first caster wheel and a second caster wheel, and a steering system. The steering system includes a first steering actuator connected in between the caster axle and the first caster wheel, a first sensor connected to the caster axle, and a controller operably connected to the first steering actuator and the first sensor. The controller is configured for actuating the first steering actuator to steer the first caster wheel in the driven-wheel-leading mode and the caster-wheel-leading mode.