The old GeneRally comes to mind. It checks all the boxes except having good physics given it's age and simplistic nature, but I'm 100% sure you can make an AI-only race or championship. You can still download it fom its site https://gene-rally.com. Source: about 1 year ago
And a more modern version - GeneRally! So much fun to pick up and play. Source: over 2 years ago
Yes! These would be amazing in GeneRally. I used to spend hours making tracks, it was so fun! Source: over 2 years ago
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