Dirt Rally 2 with even a cheap driving simulator setup is incredible. It’s like the dark souls of racing games, and doesn’t hold your hand at all.

Assetto Corsa is another great one with a simulator. The amount of mods, cars, and tracks added to the game has made enough content to keep someone entertained for probably their whole life.

Really, any modern racing game that uses wheel and pedals are amazing compared to what existed before that. Luckily, even the good direct drive wheels and good pedal setups have gotten more affordable in recent times.