All tyres have a coefficient of friction, ie that point at which the grip that exists between the road surface and the tyre is lost due to a force or forces acting on the tyre - this may be a lateral force (cornering) when a slide is induced, changes in conditions of the two surfaces (water ice etc or a sudden loss of pressure) and either exacerbated by excess speed, heavy breaking, harsh cornering or a combination. Different tyres also wear at different rates which agains impacts on the coefficient of friction/grip levels.
Early RFTs certainly had tramlining characteristics after some wear. So imagine having part worn RFTs on the front and 'non' RFTs on the back - front starts tramlining while the rear tries hard to retain its grip and direction and then suddenly steps out in an effort to follow the front axle. Certainly a stange feel from the steering......
So mix different tyres on different axles and you get the same effect, each axle operating a set of tyres with different grip levels and tyres wearing at different rates. May be OK 90% of the time but in extreme conditions then the tyres will exhibit different operating characteristics that could cause at the least vague steering an in extreme conditions contribute to a loss of control.
A bit like wearing a lounge slipper on one foot and a hobnail boot on the other. OK 90% of the time but when it rains......