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I´m not sure about other simulators, but here are some Gazebo-related links that might be useful:

As described in the animate_pose tutorial, you can animate objects without using the physics engine. If you have a model of one or multiple cars, it should be possible to let them move using this mechanism.
There has been some work on importing Open Street Map data into Gazebo, code here. I´m not sure how mature and finished this is, though.
The driving scenario from the VRC competition as visible in this video is available as part of drcsim (vrc_task_1.world) and might be useful to look at.

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