I love the ingenuity, I also love youtube documentaries on this topic, but... as a child (in the 90s), I did not like these pseudo 3D racing games at all! Mode 7 on the SNES was usually fine. I don't know how accurately it rendered a single flat surface in 3D, but it felt real enough and responsive enough. Except for the very rare cases where they simulated non-flat surfaces (Speed Racer, Super Off-Road), even though…
But most games that implemented this technique were much more primitive, and just amounted to "bending" the road to indicate turns, which never feels like there's actually a turn coming towards you. It just feels like the road is suddenly changing its shape. But that's not an inherent fault of the technique, it's just a poor implementation.
I do agree that Mode7 games, which effectively display an almost correctly rendered 3D plane, are generally a much better experience.