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Mario Kart World – Nintendo Direct | Nintendo Switch 2
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[S2] means Switch 2 only.
Yes, it has the classic Grand Prix mode. And Knockout Tour appears to be similar too, just with a new checkpoint mechanic. The "open world" mechanic is probably just limited to the Free Roam mode.
I think the new checkpoint mechanic could be nice.
Some of the other race modes do involve "getting to" the next track. But if you think about it as just being a point to point race between each circuit race, then it's not really "open world" per se.