I had fun trying to make this as intuitive as possible. I hope I've succeeded without doing the physics of the situation much injustice.
When a car is driving straight ahead, the plane in which the wheels are rotating is aligned with the direction of movement. Another way of saying this is that the rotation axis is perpendicular to the momentum vector $\vec{p}=m\vec{v}$ of the car. So the friction merely makes it harder for the car to move, which is part of the reason why you need to put your foot on the gas pedal to maintain a constant speed. At the same time, the friction is what allows you to maintain that constant speed because the rotating tires sort of grab onto the ground, which is the intuitive picture of friction. The tires grab the ground and pull/push it backwards beneath themselves, as you would do when dragging yourself over the floor (if it had handles to grab onto). Those grabbing and pulling/pushing forces are what keeps you going.
Things change when the wheels are turned. The plane in which they are rotating now is at an angle with the direction of motion. Alternatively but equivalently, we could say the rotation axis now makes an angle with the momentum vector of the car. To see how friction then makes the car turn, think again in terms of the wheels grabbing onto the ground. The fact that they now make an angle with the direction of motion, means the force the tires are exerting is also at an angle with the direction of motion - or equivalently, the momentum vector.
Now, a force is a change in momentum$^1$ and so (because the wheels are part of the rigid body that is a car) this force will change the direction of the car's momentum vector until it is aligned with the exerted force. Imagine dragging yourself forward on a straight line of handles on the floor and then suddenly grabbing hold of a handle slightly to one side instead of the one straight ahead. You'll steer yourself away from the original direction in which you were headed.
$^1$ Mathematically: $$\vec{F}=\frac{d\vec{p}}{dt}$$
Frictional force opposes sliding motion, basically. Car tires produce centripetal force by changing their angle relative to the rest of the car's orientation
. The tires do not slide in the direction of the tires' orientation
: they roll. Friction in this direction rotates the tires, or if the engine is applying force to the wheels during the turn, friction prevents the tires from "burning rubber", and pushes the car in this direction.
Meanwhile, motion in the direction of the rest of the car's orientation
is opposed by friction only to the extent that it is not motion in the direction of the tires' orientation
. The velocity vector corresponding to the rest of the car's orientation
can be understood in terms of these two orthogonal components. The component corresponding to the tires' orientation
is basically not subject to friction for our purposes (ignoring whether one's foot is on the gas pedal). The component that does not correspond to that other component is orthogonal and opposed by centripetal friction.
Based on GIF by Droidmakr.
If tires' orientation
$=$ rest of the car's orientation
, basically no centripetal friction results.
Best Answer
There are two types of frictional force, the static friction and kinetic friction.
Kinetic friction is the force experienced when you drag an object on the floor. Static friction is what enables you to hold objects without it slipping away from your fingers.
Similarly, as you drive, assuming that the wheels don't spin, your wheels are pushing backwards against the floor, and friction is the opposing force that pushes your wheel forward, enabling you to drive forward. If static friction does not exist, your wheels will simply spin, and you car will remain stationary, because there is no frictional force to push your car forward. (If you can't visualize this, think of what happens when you row a boat. You push the paddles backward so that the water resistance force pushes your boat forward)
As you negotiate a turn, if you are turning left, your wheels are pushing to the right against the floor. Static friction allows the floor to "push back" against your wheels, allowing you to turn left.
In this case the only force that is acting in the direction of turn(centripetal force) is the frictional force. As the floor is the only surface that is in contact with the car, friction is the only force that is acting on the car towards the centre of the turn, pushing the car towards the centre of the turn.