volarchico wrote:If a vehicle is going around a turn without losing traction, it is yawing but there should be hardly any sideslip angle?
Yes. Yaw and slip are two distinct concepts. Yaw is a change in orientation while slip is direction of movement relative to orientation. Crossed rudder and ailerons can slip an airplane without yawing it. And as you note, a vehicle can yaw without slip (ignoring probable tire slip angles).
A F1 car will have tire slip angles, but I'll leave this guesstimate to the better informed.