I'm not quite clear what you're saying here.
Reality is that some cars are hard to drive to the limit. Your previous post asked for a game where cars are not hard to drive to the limit.
Some cars require different or strange driving styles, spool diff Supercars being a perfect example as
@mwoodski pointed out. "Realistic driving techniques" would require adapting to that style, but your previous post seemed to be asking not to have to do that.
If you're not used to spool diff Supercars, to get in and drive at a decent speed will require strange techniques. Same with historic cars, mid- or rear-engined cars, high downforce cars, front-wheel drive race cars, etc. The whole point is that these cars drive differently, and the techniques to be fast will be strange at first.
Realism means dealing with the fact that some cars will be hard to drive to the limit, and that some cars will require strange driving techniques in order to be fast. That's how reality is.
As far as setups, it seems like you're talking about having bad default setups. Having good default setups can allow good times to be run without the player necessarily needing to spent time setting up the car. But how good the default setups are is something that's up to the developers, and isn't really anything to do with either driving techniques or physics.
There's also a bit of a tradeoff, in that very fast setups are rarely user friendly. Developers usually choose to have "safe" setups as defaults so that all players can jump in and enjoy the car, and these setups are rarely optimised for speed. Those that would prefer a "fast" setup are usually engaged enough with the game that they're willing to spend a little time either creating their own setup or copying one from other sources.
It's not ideal, and some games have experimented with offering several presets for drivers to make more concession to the sort of thing you're after. I think that's probably about as good as it gets, having a few setup presets that players can try and find what's good for them. Maybe "safe", "loose", "tight", and "wet". Or something like that.