If we want to keep a body in a circular orbit a central force is needed. If that is intuitive enough then,when you turn the wheel you are effectively changing the direction of the driving force ( if we are travelling at uniform speed this force is still there though it cancels off exactly with total frictional forces ) changing the force direction will not change the velocity direction instantly. if you make only one angle change of the driving force, it will take a finite amount of time to get the vehicle adjusted to the new angle. So it is the Inertia that gives this apparent slipping. Circular orbit is bit different, you keep on changing the direction of the driving force, now since inertia makes the vehicle slip all the time the Frictional force is active. But the maximum frictional force is limited by muR , R = mg , If the central force needed for our intended orbit is less than that myR then vehicle sustains minimum slip, but if it is insufficient, slipping and turning occur successively until we reach a larger orbit with a higher Radius of curvature, that will make the central force lesser ( since it is mv^2/r ) so that it could be sustained by mu* R ( mu is the coefficient of friction ) Alternatively V could be made smaller so that the frictional force could sustain necessary central force. Main thing there are no two forces centrifugal and centripetal, It just makes this whole thing confusing. The thing is that central force that is needed for a particular orbit and a speed. It has to come from some external means.

If we want to keep a body in a circular orbit a central force is needed. If that is intuitive enough then,when you turn the wheel you are effectively changing the direction of the driving force ( if we are travelling at uniform speed this force is still there though it cancels off exactly with total frictional forces ) changing the force direction will not change the velocity direction instantly. if you make only one angle change of the driving force, it will take a finite amount of time to get the vehicle adjusted to the new angle. So it is the Inertia that gives this apparent slipping. Circular orbit is bit different, you keep on changing the direction of the driving force, now since inertia makes the vehicle slip all the time the Frictional force is active. But the maximum frictional force is limited by muR , R = mg , If the central force needed for our intended orbit is less than that myR then vehicle sustains minimum slip, but if it is insufficient, slipping and turning occur successively until we reach a larger orbit with a higher Radius of curvature, that will make the central force lesser ( since it is mv^2/r ) so that it could be sustained by mu* R ( mu is the coefficient of friction ) Alternatively V could be made smaller so that the frictional force could sustain necessary central force. Main thing there are no two forces centrifugal and centripetal, It just makes this whole thing confusing. The thing is that central force that is needed for a particular orbit and a speed. It has to come from some external means.

P.S. Elaborate further on a sudden direction change to a vehicle which is traveling at a uniform speed. As soon as we turn it you can resolve the velocity in two directions. one along the new direction and perpendicular to that direction. Now the perpendicular component will push the vehicle outward, with a friction force in the direction opposite to slip, Because of that 'perpendicular velocity' will decrease. However if this remains the same, the constant speed of the vehicle in the new direction does not increase back to v because the driving force is barely sufficient to keep the velocity constant i.e. No acceleration. Because of the turn kinetic energy is lost. The key here is Inertia.