As I see it, there is understeer in three places, each with different (and sometimes conflicting) ways to deal with it.
While outright friction determines the overall understeer/oversteer balance while at the limit, the difference in cornering stiffness front and rear defines the balance while under the limit of adhesion. This is a direct property of the tyres, in response to load and slip. The higher load on the front tyres will make the front stiffness relatively less (cornering stiffness increases non-proprortionally with load), thus creating understeer on turn in.
At the initial point of turn in, before weight transfer begins, the only tool you have to control this is tyre pressures. More pressure will increase the stiffness, and thus the sharpness at this end. So you could increase front tyre pressure and reduce the rear, to reduce understeer at this point.
As turn in progresses and weight transfer begins, you can use the suspension to diagonally shift the weight transfer, and thus control the load distribution of the front and rear tyre pairs. The more evenly loaded the tyres (which axle has the relatively softer roll stiffness - relative to the supported mass, that is), the less they will need to slip in order to produce force, again reducing understeer at that end.
Finally, once settled in to the corner, with maximum weight transfer (I don't see the point of the whole centripetal/centrifugal force argument... the force from the tyres is torquing the car, which creates weight transfer as the suspension reacts to the body roll created), things get more complicated again. If the front and rear are exactly equal in outright friction (unlikely), then everything said this far still applies, and will control the balance of the car. If not, the more unbalanced the two ends of the car are, the more you will just feel this difference determining the handling, and the effect from he difference in cornering stiffnesses will become much reduced.
One last complication with FWD cars is that the engine is generally providing some torque to the wheels, causing longitundinal slip. This reduces cornering stiffness massively, and is responsible for the large feeling of understeer, even when all four tyres are still well within their traction circle.
Managing all of this is not easy and you can never remove all of the understeer, at all times, from a non balanced car, and FWD will always add understeer (much like RWD will always add oversteer).