Even using the original ps2 or ps3 controller with the right drivers on PCSX2 doesn't really reproduce the same smooth acceleration/brake curve of the PS2.
Playing them on a keyboard or fully digital inputs is just a miserable experience.
I assume it would require some additional patching in those GT / NFS games though...
https://github.com/snuri00/ps2-web-recomp/blob/1066c9eea78c2...
Have a look at Decky loader and Emudeck.