Understeer
The subject is tricky to understand, and will require more time thinking before you can really "get it".
First you will have to forget about
everything you state in that post.
These things do not relate in any way to what under-steer is, and are not what causes it.
Can you do that?
If so, then go ahead and forget about that stuff, and try this:
Read my shortcut explanation again (at least a few times) at the end of this page:
standard tires on 2.5
Spend a little time thinking about how the ideas I have presented relate to different degrees of change in the "orientation of the car" while taking turns with different cornering forces.
If you don't get an "aha!" from that, more explanation may help.
Try the parts of this article that talk about under steer:
Understeer and oversteer - Wikipedia, the free encyclopedia
-though that is way more detailed and tedious to read.
Keep in mind the behavior I am addressing does happen at normal driving speeds and conditions while cornering.