Point of order--
The tires are often slipping a little bit. That's what happens when they turn, different parts of the contact patch slip. This is especially true when you are cornering quickly, but it is also true when you corner at more normal speeds.
...But the dominant force when going in a straight line would be rolling resistance, yes.
(I'm now trying to resist getting sidetracked into a discussion about the "coefficients" and how they are not constant....)
-sod
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