Steering on the taxiway

Is it better to use just the rudder or differential braking to turn on
taxiways? I understand that steering mechanisms vary considerably
from one aircraft to another, but I'm still curious. In this case,
I'm wondering about a Baron 58, the aircraft I fly in my sim (most of
the time).

I note when taxiing that the aircraft seems to oversteer, especially
as speed increases. That is, I'll move the rudder to straighten out
on the centerline of the taxiway, but the aircraft still continues to
drift slightly in the turn and overshoots the centerline. Is this the
way the real aircraft works? If so, what causes it? I should think
that if the rudder pedals turn the nose wheel directly, it would be
hard to overshoot unless the nose wheel actually skids or something
(?). This isn't happening at high speed, it's like 16 knots or so (or
does that count as high taxiway speed?).

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