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One of the biggest problems with NPCs, is making them find their way and not get stuck. I do not know of any game which never has NPCs get stuck on terrain.
And those are games with very simple terrain, not the complicated mud simulation used in mudrunner. Any AI is going to get your truck stuck in mud, trees, ledges, rocks...
Even when following your path perfectly, you change the terrain while driving over it, causing issues for the AI trying to follow you. The only way I can see it working is by cheating: the AI vehicle completely ignores all obstacles and simulation, and instead just follows a preset track. But that would completely defeat the whole point of the game. The terrain and obstacles are the gameplay, removing it would ruin the game.
So yes, it is technically possible, but with heavy limitations and compromises. Or an AI that needs a NASA supercomputer to run.
EDIT: request moved to this discussion