Let me ask this what type of tires do you have? Stickier tires can do that but the main reason is the tire shape. If you look from behind the vehicle at a tire it looks like a rectangle for a basic shape. Now that rectangle isn't exactly built with to parallel sides when it comes to tires. They can be trapezoid shape or parallelogram or egg shaped or multiples of these. If you leaned the tire over rather than rolling it straight up right, is it going to roll straight down the road? No, it'll roll and fall into that direction. That tire deformity is what cause this concern when torque is applied and the tires need grip and pull the way they are contacting the road.
Visual:
Good Prob 1 Prob 2 Prob 3 Prob 4
l l ___ l \ ___ / l ___ \ \ ___ / /
Each one of those tires can pull differently and at different rates depending on tread compound/design and severity of the tire imperfections. If you had 2 tires that looked like #4 in the front then it'll want to pull you more right and rotating you allows to make the tires fight against themselves: ex 3/4 or 4/3 to where they push or pull at each other. Some do it all the time but few occasions only accel and decel. Hope that helps
Edit: Bad example lol
Visual:
Good Prob 1 Prob 2 Prob 3 Prob 4
l l ___ l \ ___ / l ___ \ \ ___ / /
Each one of those tires can pull differently and at different rates depending on tread compound/design and severity of the tire imperfections. If you had 2 tires that looked like #4 in the front then it'll want to pull you more right and rotating you allows to make the tires fight against themselves: ex 3/4 or 4/3 to where they push or pull at each other. Some do it all the time but few occasions only accel and decel. Hope that helps
Edit: Bad example lol
