Here is a video of an extremely broken Sonic 2006 running on a emulator called Xenia.
It is super early stage but this is actual running a console only game. It will be interesting to see how this goes. It is also Open Source if anyone wants to help or knows coders how can do this they can join in. I am not part of this if it sounded that way, a friend just linked it to me.
I hope this goes well, want to play Project Gothem Racing again.