Be aware that an underpowered or stuck stepper motor can “skip”, causing the position data to be incorrect.
A servo motor has active feedback, so doesn’t have this issue. Servos do have their own drawbacks too, so they are not always a suitable replacement.
Most electric cars only have 1 gear and it’s always engaged. If you put the car in reverse, it uses the same gear, but the motor spins the other way.
Even in neutral the motor still spins when the wheels are turned, it just doesn’t output any power to the wheels.