Draw it on a piece of paper if you need to convince yourself. This is an incredibly common trick to stabilise rigidbody physics simulated vehicles in games.

Edit: I took some time to setup OBS on my non-work machine and make a little video explaining what's going on (apologies for kids in the background and that for some reason my voice only comes out of the left channel): https://youtu.be/qvMbdzbaAMQ

Your force sideways is actually from the ground, on the tyres. This acts on the CoG (or better to call it Center of Mass), so if this CoM is above the tyres you get a torque, because the mass doesn't instantly accelerate, but resists the force. This torque then needs to be countered by having more force on the tires on one side than on the other, which when you take into account things like suspension, causes body roll, or in the extreme case the car lifting wheels on one side completely off the ground.

If you put the center of mass below the car then think what happens not during turning, but during braking. The center of mass will swing forward underneath like a pendulum (think of what happens to something hanging from the rearview mirror during braking) and if you took it really far down you could even get the car to do a wheelie while braking, which is of course ridiculous.

If you want the car to be completely flat during turns, acceleration and braking then you need to put the center of mass at the ground level. This way when you turn and the ground puts a horizontal force on the car at the contact points with the road (ie. the tyres), it goes through the center of mass and there is no torque generated. No torque = no body roll.

If you don't believe me you can download Unity, UE, Godot or the rigidbody simulator of your choice and just setup the experiment. Of the engines mentioned UE is perhaps the easiest to set this up with a straightforward car example.

We're very much not talking past one another. I recommend just doing the experiment to convince yourself because as I and Animats note this is a very common thing to do in games. As I said in my last reply just grab a game engine (they're all free to download) and test it yourself!

The tyres exert their force at road level, the centrifugal force at the height of the CoM. The CoM usually being above road level, the centrifugal force will tend to tilt the car outwards.

Lower the CoM to exactly road level and there is zero tilting moment; your car might slide outwards if it loses grip, but it will remain upright with no tilt, because the centrifugal force has no vertical leverage relative to the opposing gripping-force of the tyres -- they're opposing each other in the same horizontal plane.

Lower the CoM below the road (magically travelling through the soil without interacting with it), and there is again leverage, only this time with the centrifugal force pushing outwards below where the car is trying to stay attached to your desired trajectory and thus tilting the top of the car inwards, towards the inside of the curve or the center of the track.

:: Moving the CoM down has a stabilizing effect down to road level, but if you go lower than that it starts destabilizing again, only applying its rolling force in the opposite direction.

There are only two forces involved - inertial forces which act on the CG, and friction forces which act at ground level. Swap the order, and you swap the direction of the torque.