Ok so I do not think they teach the answer to this in highschool or even college physics. But this is very important to game development, so I am wondering if any physicists out there that can solve this problem.
Also, the static friction coefficient of the Tire is set to 1000 (for all intents and purposes, it has total grip.)
Basically, the idea is, a standalone simulated rubber tire should have a lateral force applied to it in the opposite direction of lateral motion. The amount of lateral force should = tiremass*lateralvelocity.
However, this becomes much more complicated when 4 tires are attached to a body. So I am not sure what the answer to this problem is, but if someone solves this, I will probably be able to judge whether they are right and correct.