Static and kinetic friction on wheel collider

Hello, i am struggling with understanding how real world tire friction is represented on unity wheel collider. As we know from physics, friction resistive force is divided into static and kinetic and is calculated by multiplying normal force (which might be caused by gravity) with either static or kinetic friction coefficient. That means we need to apply certain amount of torque on wheels from engine if we want wheels to spin not just move the car and stay in grip, we need to exceed static friction of tyre and ground to make wheels spin. But in unity wheel collider documentation there is a graph that from what i understand is saying that unless wheels dont slip, there will be no force applied to the car (car wont move unless wheels dont slip on ground?) and thats quiet confusing as we know that we don't need make burnout to move car :D. Can someone explain me the unity represetation of tire grip in real life?