The 1987 Honda Prelude was the first car to offer 4WS. Infiniti still builds models with 4WS (which is something I didn't know before)

This from Wikipedia:
Previously, Honda had four-wheel steering as an option in their 1988-1994Prelude, and Mazda also offered four-wheel steering on the 626 and MX6 in 1988. Neither system was very popular, in that whatever improvement they brought to these already excellent-handling vehicles was offset by an unavoidable decrease in sensitivity caused by the increased weight and complexity.
Many modern vehicles offer a form of "passive" four-wheel steering, where the bushings by which the rear suspension attaches to the automobile are designed to compress in a precise direction under the forces of steering, thus slightly altering the rear suspension geometry in such a manner as to enhance stability.

Cars with four wheel steering
Citroën ZX
Efini MS-9
GMC Sierra (2002)
Honda Prelude (1988 and 2001)
Honda Accord (1991)
Infiniti G35 Sedan (option on Sport models) (2007-Present)
Infiniti G35 Coupe (option on Sport models) (2006-Present)
Infiniti M35 (option on Sport models) (2006-Present)
Infiniti M45 (option on Sport models) (2006-Present)
Infiniti Q45t (1989-1994)
Jeep Hurricane
Mazda 626 (1988)
Mazda MX-6 (1989-1997)
Mazda RX-7 (1986-1992)
Mitsubishi Galant VR-4
Mitsubishi GTO (also sold as the Mitsubishi 3000GT and the Dodge Stealth)
Mitsubishi Sigma
Nissan Cefiro (A31)
Nissan 240SX (option on SE models)
Nissan 300ZX (all Twin-Turbo Z32 models)
Nissan Laurel (later versions)
Nissan Fuga
Nissan Silvia (option on all S13 models)
Nissan Skyline GTS, GTS-R, GTS-X (1986)
Nissan Skyline GT-R
Peugeot 306
Toyota Aristo (1997)
Toyota Celica (option on 5th and 6th generation, 1990-1995)
Volvo S40/V40
Some German World War II vehicles; the Schwere Panzerspähwagen (Sd Kfz 231) 8-Rad had both drive and steering on all eight wheels.