Horses vs 4wheelers - I think it makes a difference what the cattle are accustomed to also. My cattle start bellowing when they hear the skidloader because they know that means food. Other than that our cattle handling is done from horseback.
We helped some friends move their cattle and the owner of the place drove in the pasture with his 4wheeler to help. He just scattered the cattle and we had to round them up again which went much better once he shut down the 4wheeler.
My sis uses a 4wheeler in her dairy herd and her cows are afraid of horses!
Just goes to show that cattle are all different and what works for one doesn't work for another. Hey, just like us!
Keep working on the inside. Baby steps....
Live your life while you are still living. Riding the trail less traveled.