Euro Truck Simulator 2.
Yeah you'd think it's incredibly geeky and obscure and all that, but it strikes a decent balance between realism and being a fun driving game, a bit like a more relaxed version of Gran Tourismo, unlike a lot of other sims which are so realistic they make you think "What's the point of 'playing' this when I can do it as a job in real life if I want?"
Drive a (customisable) lorry around a compact representation of Europe. While vehicle speeds are true to RL, distance measurements are vastly shortened and the day/night cycle passes quickly like other open world games. Earn in-game money and XP by picking up cargo and completing delivery jobs. Levelling up unlocks new custom lorry parts and more valuable jobs with higher rewards (varied time limits, distances, cargo types & weights).
Micro-manage your own transport company in the background as you drive. Hire and fire drivers, buy more trucks and upgradable garages.
Lorries handle as you'd expect them to (and feel heavy). Controls are customisable and can be as complex or basic as you wish. Toggle features like the 55MPH speed limit (I have that turned off and try and get as far as I can within the 10 in-game hour 'rest' limit, also toggleable) or a realistic HGV braking system.
The demo's pretty generous too if this description hasn't put you off and you wanna give it a try.