Linkages have little effect on the most appropriate drive mode. However, rear steered vehicles do not have the benefit of Hands-Off in Manual Drive mode or Forwards Bearing in AutoDrive.
It is only possible to link entire axle groups so the best way to model a single linked axle in a multi-axle group is as a self-steered axle. Set the axle group type to Fixed and check the Self-Steered box on the axle that is linked. By default, with a self-steered friction factor of 0.0, the effective axle position will be calculated on the basis of the remaining fixed axles and the wheels on the self-steered axle will turn about the centre of turn of these axles.