When mentioning foundational 2d driving models one simply can't omit Marco Monster (2003) [1].

Also Physics for Game Developers (2001) had a hilarious chapter dedicated to car racing simulation. Most of the chapter is dedicated building the scene in a minute detail - for instance pointing out that the center of gravity of the car will change during the course due to fuel consumption - only to simplify and cancel out most things at the end to leave the reader with just a handful of variables.

[1] https://www.asawicki.info/Mirror/Car%20Physics%20for%20Games...

Let's not forget Dr. Brian Beckman's The Physics of Racing Series, at the time he was a researcher working at Microsoft on the Forza video game series.

https://www.youtube.com/watch?v=I8GQCZgCNw8

I built an OpenGL car physics simulation as an undergrad as a project. It was very fun.