On level pavement, the outwards torque is due to the reaction force due to centripetal acceleration, times the distance from center of mass of the car to the contact patches of the tires. The opposing torque is due to the imbalance in vertical forces between the pavement and the inner tiers versus the outwards tires (this is affected if the center of mass is offset inside or outside) The limit for the outwards torque is the amount of friction at the tires. The limit for the opposing torque occurs when there is no vertical force on the inner tires and all of the cars weight is on the outer tires. If the outwards torque exceeds the limits of the opposing torque, the car tips over.
The effective amount of grip can be increased if the car hits a bump or curb or dip while sliding sideways.