Midtown Madness is the only one I know of that comes close to that description. Sega also had a motorcycle arcade game which worked like that but I don't know the name, and it hasn't hit home consoles. it came out around when Crazy Taxi was made.
It's been too long since the last one. My guess is that compared to Need for Speed and Burnout it just wasn't selling as much. Wasn't the first true 3D Road Rash the first EA racing game to have a huge free roam environment?
Secret of Mana is my all time favorite single player experience even though I played through some parts with another person. Shenmue is a really close second.
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