The rapid advancement of autonomous driving technologies is shifting vehicle occupants from active drivers to passive passengers, necessitating a rigorous reevaluation of traditional ride comfort criteria. Recent literature identifies low-frequency lateral oscillations, specifically the phase lag between lateral acceleration and yaw rate induced by steering maneuvers, as a primary cause of passenger motion sickness. While modern Four-Wheel Steering (4WS) control architectures effectively mitigate this transient lag by regulating the vehicle's sideslip angle to zero at the Center of Gravity (CoG), they inherently neglect the vehicle's rigid-body kinematics. Consequently, occupants seated at longitudinal distances from the CoG still experience non-zero local sideslip angles and resultant lateral velocities, which locally degrades perceived ride quality.