Very simple way would be to do it in the same way barrels are set
This means you have to use steering wheel 2 handed. Which may not be ideal.
If you want to have more 'proper' 2 handed interaction I think you'd need to extend
Interactable.GrabAction.SwapAction. Right now it'll swap active interactor when you grab 2 at the same time. It's not far from what you want.
I'd look at creating another action let's name it that'd be very similar to
SwapAction but you can add call in
InputGameObjectUngrab to re-grab the currently active interactor. That'll mean if you did not release first interactor while using second one it'll revert back to it. Giving smoother experience of running both hands and sometimes just one (to shift gear or something).
You probably have to get active interactor before calling
ClearStack as it's effectively swapping hands. Then with that reference stored you can re-apply it by calling
EmitActiveCollisionConsumerPayload with stored reference.
This approach means that at given time you're actually holding wheel with 1 hand (last one grabbed) - but that should get you close. I'm sure that with those custom GrabAction you can extend bit further to follow both hands at the same time.