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Under the "repository" page is where you'll find the bulk of the mods. You can click through the categories on the right to see specific kinds of mods. I've been playing for a number of years now and while it may seem bloated, sometimes you just gotta look through a bunch of mods to find some that look interesting or good. You don't need to get mods through the repository- rather, you can find some online (from the Beam forums or from third parties) -- concerning the third party sites however, you'll want to be additionally cautious as you'll often be downloading a mod from a site that is sketchier than I personally like. Car mods are generally more sketchier than the maps but they are more difficult to find. I'd be happy to point you towards some car mods if you're at all finding it difficult to get some.
As for multiplayer, there are (as I recall) two main services. BeamMP and KissMP. I've only used BeamMP before however, the last time I used it was around a year ago so I can't say what the experience is like today. It took a few hoops to jump through but I enjoyed playing it. https://discord.gg/beammp that's their discord if you're interested in learning a bit more.
As for one of your last questions, I just do whatever I find interesting. Most of the time, I just go around in a random car driving on a random map. Sometimes, I do some off roading, track racing, derby/rally, etc. There isn't a set "objective" for Beam, it's more of just finding something you like to do.