Need for Speed: Hot Pursuit or Burnout: Paradise might be the closest to what you’re looking for. They’re both open-world games, but I don’t think they really have that open-world filler that you see a lot of. They both got remastered releases in the last few years.
Yes! And if I remember, those races actually lasted 24 minutes, right? I hadn’t played a game that did that before. I loved the fact that there was an actual endurance/focus element to that race.