A steering control system comprises a processor and a memory. The memory includes instructions that, when executed by the processor, cause the processor to: determine a steering direction of a vehicle; determine a selected gear of the vehicle; generate a first steering control value based on the steering direction and the selected gear; selectively control steering of the vehicle based on the first steering control value; in response to the selected gear changing, generate a second steering control value based on the steering direction and a second selected gear; and selectively control steering of the vehicle based on the second steering control value.