There are a couple that come to mind that satisfy that criteria; Midnight Club and its sequels, or the (admittedly not at all focussed on realism) Burnout series, both are/were fairly mainstream during their time and featured racing through fictional city streets. So did the Need For Speed: Wanted games, I believe. I assume there are plenty of others that I just didn't play or don't remember (Grid, perhaps?); there's never been a shortage of games that feature driving environments and ways that would be suicidal in real life, even if you ignore the obvious absurdity of games like F-Zero or Extreme-G (Or Mario Kart :))

Anecdata: I'll admit to having the experience of, after playing Burnout: Revenge for many hours, continuing to view streets and traffic on my way to work through the lens of traffic-checking and drifting for extra points/boost. I hasten to add that I never felt the urge to -act- on that view; so much of driving is subconscious and/or automatic that I suspect we have something of a built-in buffer working in favor of normalcy here. But it was pretty surreal.