A work vehicle (10) with a steering system (12) is provided, comprising articulated first and second vehicle sections (14, 16). The steering system (12) comprises a controller (40) adapted to: determine from a speed-request signal (42) if a requested steering speed requested for the first vehicle section (14) relative to the second vehicle section (16) about an articulation axis (22) toward an end (26) of an end region (28) of a position range (24) of the first vehicle section (14) is at least a predetermined steering speed; determine from a position signal (44) if the first vehicle section (14) is positioned in the end region (28) of the position range (24); and, if the requested steering speed is at least the predetermined steering speed and the first vehicle section (14) is positioned in the end region (28), signal that an actual steering speed of the first vehicle section (14) be lower than the requested steering speed. An associated method is disclosed.