> The question is: how to simulate this lateral force on wheels on low
> speeds? How to limit this force on wheels and not let it act like it
> was dynamic force (not friction).

Lateral force is related to downforce, grip factor, and slip angle.
Slip angle is the angle between the direction the tire is pointed, and
the direction the tire is actually moving.

At very low speeds, limits on the steering angle cause the slip angle to
be reduced. There's a minimum speed for a given maximum steering angle
to cause maximum lateral force, below this speed, the force decreases.