Counter-direction implementation for a 2D drifting car

I could make a sliding car. but I want the address counter functionality. My current car model has 4 wheels, all of them have a script that handles the slip. I am currently multiplying the lateral speed by a value between 0 and 1 (such as 0.6 while fixed and 0.9 while sliding).

At first, all my wheels had a mass of 1, so the car slid very fast and spun like crazy. When I increased the dough to 20 each, the car slides normally. But the front of the car does not move laterally when turning in the opposite direction.

This is the code I have now for each tire

using System.Collections;
using System.Collections.Generic;
using UnityEngine;

public class wheel : MonoBehaviour
{
    private Controls controls_i;
    private Rigidbody2D rigid_body;
    private Vector2 current_velocity;
    public bool rotate, power;
    public int rotation_angle, acceleration, max_speed;
    public float max_friction, min_friction, max_slip;
    // Start is called before the first frame update
    void Start()
    {
        controls_i = GameObject.Find("Main_camera").GetComponent();
        rigid_body = gameObject.GetComponent();
    }
    void set_angle(float angle){
        angle = Utils.linear_range(45, -45, rotation_angle, -rotation_angle, angle);
        Vector3 tmp = transform.localEulerAngles;
        tmp.z = angle;
        transform.localEulerAngles = tmp;
    }
    void accelerate(float acceleration){
        if(current_velocity.y < max_speed){
            rigid_body.AddRelativeForce(Vector2.up * acceleration);
        }
    }
    // void apply_sideways_friction(){
    //     float sideways_velocity = current_velocity.x;
    //     float velocity_sign = Mathf.Sign(sideways_velocity);
    //     sideways_velocity = Mathf.Abs(sideways_velocity);
    //     float slip = sideways_velocity - max_friction;

    //     float updated_velocity = 0;
    //     if(slip > 0){
    //         slip = sideways_velocity - Utils.curve_map_linear(0, max_slip, min_friction, max_friction, slip, -1);
    //         updated_velocity = slip;
    //     }

    //     Vector2 new_velocity = transform.TransformVector(new Vector2(velocity_sign * updated_velocity, current_velocity.y));
    //     rigid_body.velocity = new_velocity;
    // }

    public float slip_threshold, stick_threshold;
    public float slip_drag, stick_drag;
    public bool slipping = false;
    void apply_sideways_friction(){
        if(!slipping && (Mathf.Abs(current_velocity.x) >= (slip_threshold * max_speed))){
            slipping = true;
        }else if(slipping && (Mathf.Abs(current_velocity.x) <= (stick_threshold * max_speed))){
            slipping = false;
        }
        float drag = slipping ? slip_drag : stick_drag;
        float new_slip_velocity = current_velocity.x * drag;
        Vector2 new_velocity = transform.TransformVector(new Vector2(new_slip_velocity, current_velocity.y));
        rigid_body.velocity = new_velocity;
    }

    // Update is called once per frame
    void FixedUpdate()
    {
        current_velocity = transform.InverseTransformVector(rigid_body.velocity); 
        Debug.Log("* " + gameObject.name + " | " + transform.InverseTransformVector(rigid_body.velocity));

        if(rotate){
            set_angle(controls_i.getSteeringAngle());
        }

        apply_sideways_friction();

        if(power){
            accelerate(acceleration);
        }
        Debug.DrawLine(transform.position, (Vector2)transform .position + rigid_body.velocity, Color.red, Time.fixedDeltaTime);
        Debug.Log(gameObject.name + " | " + transform.InverseTransformVector(rigid_body.velocity));
    }
}

I'm looking for something like in the game "absolute drift"

I also tried wheel colliders. But the same problem happened there, the car slides but could not operate the drift of the opposite direction.

Basically, the player has no speed control. The car will accelerate at maximum speed on its own, slowly. The player can steer the car. When the player directs the car to the left or to the right, when the lateral impulse increases to a certain level, I want the car to start skating slowly and if the player does not turn in the opposite direction, the car will turn and stop, then will accelerate again. If he directs the opposite direction at the right time, I want the car to deviate. I don't want to code the exact drift logic as if the speed = n and the steering angle = x for y seconds add force to the front of the car. Because I want the user to try to drift and control it by going left and right to keep the car drifting.

What is the maximum safety time for a user to look at the controls of a car instead of the road?

And how should this be taken into account with the design of the touch screen controls in the vehicle?

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Tilt the car to accommodate larger tires

I would like to rotate the car so that the front wheels touch the ground without using physics.

The rear tires are on the floor but the front tires are not

As you can see, I want to rotate the car at an angle to, but making sure that both tires touch the floor. but it is a bit difficult since the central mass of the wheels is not the rear of the car.

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You drive late at night in a safe but deserted neighborhood when a dog suddenly launches in front of your car. Although you hit the breaks, you hit the animal. Would you stop to see how hurt the animal was? If he did and discovered that the dog was dead but had a name tag, would he contact the owner?

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