That's not true, though.
GT1-GT3 had braindead missiles that also had rubber banding, but more in the Mario Kart "actively goes faster than possible" sense, which only made mistakes when they occasionally they tripped themselves up with how polite they were (Laguna Seca spinouts in GT2 were almost always caused by the AI just taking the outside in turns that really had no outside; ditto GT3 Apricot Hill), but their "regular" speed was higher. The provided much better racing than anything in GT6 and weren't out of line for most of its competition of the time (Toca games excepting), but as far as anything that is usable in a 2016+ game they are useless.
GT4 had braindead missiles that didn't even have properly set up lines for some of the tracks; which is why you'd see things like cars shoot off the end of Mulsanne every single lap, run wide right on Autumn Ring's final turn every single lap, or constantly plow into the concrete walls in Opera V. It would have been awful even for the times of the first GT title, and the only reason races were ever challenging was because the game ramped up the power in AI cars to an insane degree (higher than the player was actually capable of doing, in a few cases).
GT6 has "intelligent," adaptive and responsive AI that just happens to be somewhat off pace to begin with and unfortunately was deliberately set up to do pants-on-head retarded things in a race to offset how pants-on-head retarded the races are designed in the first place. PD doesn't have to throw it out and start from scratch, because I suspect GT6's AI is just GT5's with a heap of bad design decisions places on it. It still obviously reacts to the player's position on the track, because if it didn't it wouldn't be able to do completely idiotic things like this:
GT5's AI was nothing amazing in terms of fighting the player for pace, but if you did a lot of B-Spec you'd notice after a while that for whatever reason the AI in GT5 didn't function the same as it did in A-Spec. A-Spec AI would generally run the same slow-ish laps over and over and over again and once you were past it it was just a rear view attraction, but still was aware of the player's presence just like GT6's is. The Hot/Cold system that was in the game just wasn't there. B-Spec AI was generally way, way more aggressive. Take turns hot, try and push through gaps on the inside, run wide to set up for curves where it was beneficial, pull in behind to draft at the start of a straight, get tangled up in high speed collisions, push the car harder when they are catching up etc. It tended to make realistic mistakes in contexts where they made sense. It wasn't aggressive enough for the most part since it cooled down way too fast, and objectively it was probably no faster than the A-Spec AI. But it felt real, and I have to think that upping the "aggression" and general pace is easier than starting from scratch and would accomplish much the same thing.
PD already has the pieces there. They need to be tweaked for sure, but most of the work is done. It wasn't in GT1-GT3, and it sure as hell wasn't for GT4. But whatever thought process brought them to conclude that turning the game into OutRun 2006 in every single race was the only solution to the stupid rolling start crap that they also decided was acceptable needs to be taken into the street and shot, or the series will never get better no matter how good the AI is underneath.