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Here's a very simeple scene that shows how to use target expressions and align to spline expressions to rig a simple car and trailer and have the trailer follow the car around a spline.

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you saved me yet again sir, thank you very much.  Was banging my head on how do exactly this!  I have modified this rig to automate a semi trailer, and put a target object out front to make the steering work as well, with some offset nulls.  It works great!  Thank you very much

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