First of all, I figured it out, but not perfectly by any stretch.
With Physics the chances of the sprite getting stuck somewhere are like 99%
Well, only somewhat. I am not making a maze, just a very large playing field with many open areas and ways to get around. So, I don't need it to be perfect, especially if there are enough enemies. And yes, I am still using physics, but I just needed simpler steering to figure this out.
Also, I figured it out. The car "followers" get stuck (it doesn't back up) but other than that you can check out a working project. The only issue keeping it from working was I wasn't picking all the Waypoints. Now it works pretty well.
(Note: this is commented if ever needed for future use)
And then with physics:
Thanks for all the help though!