If a car is attempting to accelerate forward, it begin by spinning its wheels. At first the car won't be moving, so if the wheels were to begin spinning without the car moving, there would be a relative motion between the wheels and the road. In essence, because of an instantaneous relative acceleration between the wheels and the road, there would be a static friction opposing that relative acceleration, propelling the car forward.
I'm confused as to how this logic applies when driving a car. How does the act of turning the direction the front wheels point cause the corresponding static friction to act as a centripetal force? In particular, wouldn't the relative motion cause the static friction to act parallel to the direction of the wheels (like in the linear acceleration case), rather than perpendicularly?