Procedurally generated tracks/stages?

As someone who plays games on instinct and doesn't have time to memorize tracks or optimize racing lines through repetitive practice, I wish there was a racing game that uses procedurally generated courses.

Just think about it:

Rallying is already not about memorizing the stages because its not feasible to memorize 10+ stages that will be run across just 3 days. Which is why pacenotes and co-drivers are core to the sport. So procedurally generated rally stages with would literally be the perfect way to accentuate adaptability and driver still over memorization.

I think it would be cool for a circuit racer too, but not as perfectly fitting as it would be for Rally.

Does such a game exist, or has no developer thought of this before?