There was a "game" a few years back that had driving an assortment of cars, trucks, vans, etc. in a city environment, with traffic, traffic lights, variable weather, etc. I believe you could even (with enough patience) create your own city maps, real or fictional. Due to complexity modeling and textures were comparatively low-res and there was a fog at about two blocks distance, all to keep resource requirements under control. (I had a dual core 2.8gig cpu, 4gig RAM, and a 1gig vid card then; loading times were glacial, fps was acceptable, lock-ups were frequent.)
I do not recall the name of this, it showed great promise, but I've heard nothing more about it.
Probably the next closest thing now is ETS2, basically driving semi trucks around Europe, mods have added buses, smaller trucks, even cars.