Powerslide provides challenging racing on a wide variety of tracks, most of which have a lot of open space allowing exploration and a few shortcuts. There's even a stunt arena to play around in without actually racing, and the game takes advantage of force-feedback controllers. It's a pity the development studio was shut down, though their other games were all (IMO) inferior to Powerslide.
This is the one game I've been waiting for more than anything else on GoG. Played it on an Atari ST when it was fairly new, and also acquired a (since lost) PC copy about 10 years ago and still greatly enjoyed it despite the low resolution. Now just hoping that Populous 2 and Populous: The Beginning aren't too far away.