There is something wrong with the way we describe how a cornering vehicle wheel creates a cornering force. I think a rolling wheel must first rotate on a vertical axis to then create the cornering force. This is fundamentally different than what we think about cornering wheels. Can anyone else see this?
Your understanding is missing substantial information regarding statics and equilibrium. Think for a minute:
The instantaneous forces acting in the wheel system are radial velocity, momentum, inertia, kinetic energy and friction. Above all there is also gravity. When the wheel changes direction, its centroid remains constant but its centre of gravity changes. It is possible for a body in motion to have its centre of gravity outside itself. This occurs because of a constant resistance force applied to the control arm which exceeds the losing radial velocity gyroscopic forces. In addition there is the moment of inertia imbalance that is corrected by asked force through the control arm. The axle or more correctly, constant velocity joint (cvj), transmits force to the issuing wheel which also provides resistance to direction change observing by steering control arm. This is why wheel bearings are often the conical thrust type or specially designed ball race type instead of rod type bearings.
The lateral forces are the result of radial inertia change with an equal and opposite force in the directing of steering. Newton's third law of motion...