Basically, all the piston Commanders have the nosewheel steering on the brake pedals. At the very end of Commander production, a new nosewheel steering system was implemented (allegedly because then-CEO of Gulfstream Allen Paulson couldn't taxi the old system smoothly).
This is the system you see described in the FlightSafety manual. Personally, in 30+ years of Commander flying, I have NEVER seen that system installed and functional. I don't really know what the issue was with it, but the vast majority of airplanes which had it got an STC which put them back to the old system.
Maybe Bruce or someone could elaborate on why the new system was bad, but all I know is it's very rare to see it these days.