Other examples:
In a small Cessna the rudder, as said, is simply connected to the pedals by steel wires. The nosewheel is connected to the pedals, too, so when you taxi a C172 for example there are two springs at the nosewheel that center the wheel and hence the pedals, as long as you move. To overcome the limited NWS angle and do tighter turns you need to use additional wheel brakes.
A Short Skyvan for example has steel rods instead of cables that actuate the control surfaces. It has twin rudders and they are really strong. On the ground there is absolutely no self-centering except the prop wash if the engines are running. For groune steering it has a tiller.
Other aircraft have rubber straps connecting rudder and ailerons to move them together, if you steer on the ground your yoke moves, too. If you held the yoke in position you‘d have a centering nose wheel ^^