Michael John Maughan has been remanded in custody after being charged with driving dangerously and theft.
It is alleged that Maughan, 37, of Brompton Road, Derby, drove a Volkswagen Transporter dangerously on Priory Bridge Road and Station Road on Thursday (August 20).
He is further accused of stealing tyres valued at £771.96 from Kwik Fit, in Priory Bridge Road, on the same day.
A section of Station Road was closed by police on Thursday afternoon, it is believed in connection with the incident.
A hearing at Taunton Magistrates’ Court was told that Maugham was on bail at the time of the alleged offences.
Magistrates sent the case to be heard on September 18 at Taunton Crown Court.