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Here is why you want to play the Sunday Drive in Simpsons Road Rage for Playstation 2 before you play a specific level: since there is no time limit, you can explore as you want to throughout the area. This means that you can find alleys, back streets, and other shortcuts that will get you to places faster when you are playing the actual timed Simpsons game for Playstation 2. So, when you head back into the normal game mode, you will be able to use these different shortcuts to your advantage and be able to take your passengers to their destinations quicker than before.
There are several levels in the normal game mode of the Playstation 2 Simpsons Road Rage where you have to demolish specific items, such as Mr. Burn's bus stops. Sunday Drive mode is also a great way to learn where those are so that you can find them again while you are in the normal mode and smash them for your destruction bonus. You will also be able to find out where to go to demolish specific light poles, cars, and other items that other missions and levels will have you smashing up.
Basically, Sunday Drive is a way for you to cheat - without cheating in Simpsons Road Rage for Playstation 2. You have full access to the area that you are in, and you have no time limit to explore it - so you can learn everything and get it all down before you head back into the normal or mission mode once more.