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I remember playing Hard Drivin on the c64, it was a terrible port. The spectrum version was great though.

Spiritual successor? In terms of realistic car modeling, I would say the rFactor series.

In terms of modeling I'm sure you're right. Something about Hard Drivin' makes it feel not like a straight up racing game. It was an odd combination of physics + disembodied stunt tracks.

The combo of a sim, but a playful environment seems very hard to find.

I see your point, maybe something like BeamNG.drive when it is finished.

I think you found it :)

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