What do you define by free driving off/on road then? And seriously, if you worry about time and which way you're driving when you're driving without competition I can't for the life of me figure why.
So how do you get to work? Set up a drag race?
There is a faction (note that I didn't say small or large) of the population of this planet that like to explore, like to have adventure but not always competitively. Yes we like playing races and I admit that I'm an addict but it's always fun to just drive around and have non-competitive fun.
Yes we can do it without the AI but then not that many people will think of that in brilliance. Adding a message like "Play with out AI and go with out racing" makes it sound messy and unfinished. Maybe just a check with the reverse that says "No racing urgency" that would take out the wrong way messages, the place system and maybe even the minimap and timer. In this mode you wouldn't feel the urgency to race and allow yourself to explore more easily. Also with the track devs knowing that this is possible the tracks may gain in size, interest and fun. I personally would like the ability for you to start small minilevels from the main game by simply exploring a small off-road track.
Has anyone ever noticed the extra cave in Zen Garden right before the bridge where you can collect nitro? There is no path to it and no obvious route and you can't even see it. However in an off-road adventure my brother discovered it and we have used it to collect nitro in time trials ever since. Exploring is rewarding.