Random bike /tire nerd post:
I did not. Though doesn’t under inflation decrease grip because the tires grip on the edges and not the center?
I do know that mountain bike tires are bigger and knobbier because dirt trails with loose dirt, sand, and rock have less friction, and thus the tires need to have more friction, compared to smoother road bike tires.
Incidentally, part of how bikes work (other than increasing the output of the human leg through leverage) is vastly reducing friction - in that respect @Levi_Orangeburst is correct. Rolling friction of two bike tires is much less than that of your foot standing on the ground - in fact, so much less that for downhill and level travel this difference allows you vastly increased speed in comparison to a runner with much less energy output, and more than compensates for the additional weight of the bike.
However, going uphill on a bike is brutal precisely because friction is now your ally in resisting gravity, and reducing it by being on a bike means that your body has to expend more energy to get the bike up the hill. (Not to mention the weight of the bike is now being dragged down by gravity, which is an additional weight to move.) In mountain bike riding, they actually have special techniques to shift the rider’s weight on the bike in increase friction on the back tire going up the hill and on the front tire going down (the latter is for better brake operations on bumpy hills).
So it may depend on if your getaway is uphill or down. But going downhill with a lubed bike tire would likely slide that tire out from under you, which would increase your friction massively as you slide to a stop. Which would also increase your pain and suffering. Not recommended.