yeah just front wheels:evil:
If that's an Axial based rig, or some other similar shaft driven, you need to look at your steering linkage. Stock setup is "ok" but not great.
Make sure your servo is moving things as far as they go. If not, look at your transmitter, make sure the end point adjustments are maxed out. If they look ok, maybe you need a longer servo horn (longer lever = more movement).
If all is good on that end, then it gets kinda technical from there.
Step one would be to check your Ackermann. From above looking down, steer it as far as it will go. The outside tire is most likely turned in farther than the inside one. This doesn't work well as the outer tire is trying to turn on a smaller circle than the inner one. To work correctly the inner tire should be turned at a slightly sharper angle than the outer tire. At worst they need to be at the same angle.
One cure for the Ackermann issue is Behind the Axle steering (BTA). This basically reverses everything. It will also give you a better approach angle as a added bonus.
Once your Ackermann is setting right, then there are ways to increase the total available movement without binding or hitting something. Grinding the drive cups back a bit can help alot. There are a number of threads on here that cover this in detail. (Links guys???)
You can also cut the knuckle arm back a bit to keep it from contacting the lower link bracket on the axle. I dont recommend this if you still have plastic knuckles. Aluminum knuckles would be a great start here, but I really recommend the high steer knuckles from CKRC. They also work great on a BTA setup.
Take some pics of your rig from above looking down while its steered fully by the servo, and both directions.
Lets see what you have to work with.