For a change of pace, Rayman Rush (2002) is the last Rayman-related game made for the PlayStation.
It is a downgrade of Rayman Arena (2001) but was able to amplify the racing components to good use. Some of the bonus racing areas have been updated to match the textures of the PlayStation.
Since the Teensies are not playable compared to Arena, they were removed out of the intro sequence.
Rayman Rush was one of the very first video games I ever played and it was a real rush for a lot of great reasons.
Rayman Rush is a great game for kids to play when learning about on-foot racing.