Start by looking at one wheel of a cornering car. It travels a curved path and experiences a lateral frictional force. If you take the wheel off of the car and roll it, it will only roll straight. To make it change direction and travel a curved path while it rolls, you must rotate it on a vertical axis by applying a vertical axis torque. Note that when you rotate the wheel on a vertical axis while it rolls, it will experience a lateral force. Here you have the wheel applying a force to the pavement and, with Newton’s third law, the pavement applying a force to the wheel.
So now we have a single wheel traveling a curved path and experiencing a lateral force. Here’s an unintuitive part but you will see it to be true in a bit. If all four wheels of the cornering car were experiencing continual vertical axis torques, they would all be traveling curved paths and experiencing lateral forces. There is a simple unnoticed mechanism that creates this vertical axis torque at each wheel when the front car wheels are pointed a different direction than the rear wheels.
In the single track bicycle model below, from a stop, the front and rear wheel will be biased to roll in one direction just as the single wheel described above was. This is because of the friction of the contact patch that resists vertical axis rotation. As you can see, with any amount of forward motion, the bicycle frame acts as a lever to apply a vertical axis torque at both the front and rear wheel. Both torques create a counter-clockwise vertical axis rotation turning both wheels to the left. The bike will continue along a curved path with both wheels experiencing lateral frictional force because the wheels individually change the direction they roll.
The video linked below shows this in more detail and with real life experiments.
https://youtu.be/-UIir0wNIEI
