Yeah, the closest to that was the 4x4 EVO I&II. What was lacking in those (besides needing a wider range of vehicles and styles) was the terrain to be more reactive. The terrain was "pretty" for a game of the time those were made, but nothing really changed unless you drove through mud, but even then it didn't develop ruts, just slowed you down and gave a splash animation.
It would be nice to see something that took into account the actual dynamics of suspension systems and such like a GT game, or schooled you in how to drive like a GT game does.