Do you have a reference to this?
Unless I'm mistaken, Ackerman angles allow the steering wheels to turn different radius' as a vehicle goes through a corner. IE outer tire turns less, inner tire turns more. 1700 horse drawn carriages have solid axles without knuckles. It functions as a spool. And the whole axle turns relative to the body, the wheels are always parallel to one another. How would the ackerman principle apply in that situation?
I think a lot of people also tend to forget that with a steering axle under power (spool, engaged ARB, locker) that ackerman angles don't really matter anyway. Part of the ackerman principle is the outer wheel turning less/inner wheel turning more AND they have to turn at different speeds. IE outer wheel travels faster while the inner wheel travels slower through a turn. With a locked steering axle this can't happen.