Have some questions about this:
//additional factors : direct friction coeff, lng/lat friction coeff, 2x magic
mLatFrictionForce *= mFrictionFactor * mLatFriction * 2.0f;
1.- Are you using mLatFrictionForce from wheels, in some way, for the chasis movement?
2.- In that case, is correctly implemented? Or is some workaround?
No idea, just asking, if is correct then i will need to tweak my values and add some fix on counterSteer to get as i want.
If not, wonder if due this is more an arcade plugin, you will leave as it or may be improved in future?