I am not an advocate of continuous light pressure on the tiller bars. Smooth but firm applications when needed. And indeed they aren't the most manoeuvrable at slow speed in tight spaces. The M113 was equipped with pivot steer for that very reason!
I found this video supposedly of a weasel controlled diff in action. Nice animation and for arguments sake mostly correct. The other one is listed as braked differential steering, less clear but neat nonetheless.
https://www.youtube.com/watch?v=gxfeXAi-C7k
https://www.youtube.com/watch?v=SqBQRS3J0yQ4