An improved coupling of immersed boundary method and turbulence wall models on Cartesian grids is proposed, for producing smooth wall surface pressure and skin friction at high Reynolds numbers. Spurious oscillations are frequently observed on these quantities with most immersed boundary wall modeling methods, especially for the skin friction which is found to be very sensitive to the solid surface's position and orientation against the Cartesian grids. The problem originates from the irregularity of the wall distance on the stair-step grid boundaries where the immersed boundary conditions are applied. To reduce this directional error, several modifications are presented to enhance the near wall solution. First, the commonly used interpolation for the flow velocity is replaced by one for the friction velocity, which has much less variation near wall. The concept of using a fictitious point to retrieve flow fields in the wall normal direction is abandoned and the interpolation is performed in the wall parallel plane with existing fluid points. Secondly, the velocity gradients at the approximated boundary are computed with advanced schemes and the normal gradient of the tangential velocity is reconstructed from the wall laws. To further protect the near wall solution, the normal velocity gradient and the working viscosity from the Spalart-Allmaras turbulence model are enforced by their theoretical solutions in the interior fluid close to the wall. Additionally, various post-processing algorithms for reconstructing wall surface quantities and force integrations are investigated. Other related factors are also discussed for their effects on the results. The validity of present method has been demonstrated through numerical benchmark tests on a flat plate at zero pressure gradient, both aligned and inclined with respect to the grid, as well as aerodynamic cases of NACA 23012 airfoil and NASA trap wing.