This should not be a problem. E.g. using a bone system:
origin - front-axis -- bind both front wheels to it - back-axis -- bind both back wheels to it - lever-pivot (ends at the pivot point of the lever) -- lever bone --- bind lever to it
- axis: only rotation around the bone (e.g. local z axis) allowed
- lever, only (limited) rotation on two axis allowed (you need to disallow the rotation on e.g. the y axis).
There are really many ways to rig this and it should be too hard.