Yes, and without friction the tyres would not be able to apply force in the opposite direction to that of motion and the back end of your vehicle would slip, causing sliding. The coefficient of friction determines the friction force given a particular road surface material. A rough surface will have a higher coefficient of friction as there will be a higher overall frictional force when the tyres exert force on the road surface. When the frictional force is exceeded, that causes skidding as the tyres slip due to the unbalanced forces. This turning force is what is known as torque.