Can anyone help me find a game?

I am looking for some games that are role playing for PlayStation 2. Ones like the Grand Theft Auto series and even ones like L.A. Rush. Just something where you can go about in a city/town and you can choose when you want to do a mission. Preferably one with vehicles that you can control/take. Thanks for your time and co-operation.

Suggestion:

www.mofunzone.com