GTA IV's driving was fine. A lot of people couldn't cope with it due to the physics of the game. You just had to adapt to it for it to work. I can driver around Liberty City with no issues at all. I did find that turning off the motion blur made things look slightly better, but that's just my preference.
Same with other games, I'll have to change my drive style to suit GTA V, but I know I'm going to love this game !