Yes, iMUSE (Interactive Music Streaming Engine) as they called it was genius, not sure whether something like this does still exist these days.
I think GTA V for example actually changes the actual music as the action goes up, like when your wanted level changes.
There is a racing game that does something even more basic (Trackmania maybe?) where they have a low-pass filter that opens up more and more the faster you go.
Nothing like iMUSE I think though.
The FAR series of games is also really seamless in this respect.