Eh... there's literature on it, yes - but you really need to know where to dig for it and there's not much that's accessible at an 'entry level' IMO.
Maybe something I'll write when I retire
To be fair it's been a decade since I've read it but I don't recall having a favorable impression of the Haney book. In general there's
lots of speculation and misinformation that floats around in racing, particularly with respect to tires.
At a more complete or comprehensive professional level, NHTSA's 'The Pneumatic Tire' is good, as is Pacejka's 'Tire & Vehicle Dynamics', and there are a variety of papers out there with regard to viscoelastic polymer materials science and physics. Not much that's freely available though.
And for perspective, even after having spend a decade professionally in race tires, there are parts of 'Tire & Vehicle Dynamics' I struggle to follow at times.
Grip is a four letter word. All opinions are my own and not those of current or previous employers.