Why is Beamng not considered a sim?

I had heard about this game before but always thought it was a bit cartoonish. Today i actually spent some time watching videos and apart from the great physics that it's known for, the actual driving seems pretty realistic.

For those that have played it, is the driving too arcade like for it to be considered a sim? If i want a game where i can casually cruise around and feel like I'm actually driving a car, is this it? And how does it compare to forza horizon 5 when it comes to driving realism?