Yes, the car is drifting.

The tyres obbey phisical laws, so there is a maximum traction force them can apply to the ground, in a certain moment. I also covered this in my code. The angle of the tyres relative to theyr movement also contributes to slipping.

The slipping is also visual, as you can see.

This generates a lot of happenings in the code, for example, if the car is turning, it will have a spin.