Green’s Dictionary of Slang

(US black) to move off at speed, usu. of an automobile,.

1994		Pete Rock & C.L. Smooth ‘Tell Me’ 🎵 Checking the brothers, going crazy when the car skirts by.
1995		Coup ‘The Shipment’ 🎵 Twelve comrades in a box Chev' fo' do', skirtin' down the strip.
2008		DJ Crazy Toones ‘G Shit’ 🎵 Leave them face down in the street when I skirt off.
2016		T. Scott ‘way back’ 🎵 Hopped in the Bronco, skrrt off like OJ.