Gas/Brake controlled by script while BeamNG AI controls steering

I am looking for a method where I can control the car's throttle/brake from an external script (like from the command line or somehow accessing BeamNG API) while BeamNG AI controls the steering. It is as if the car is on "rails" and the driver controls the car like a train - just on the road/street network.

Is this possible? Thanks.
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I have also looked into https://github.com/BeamNG/BeamNGpy#features - it seems like I would be able to do what I described above but it looks like I need to request BeamNG.tech. Can I download this even if I am not affiliated with academics? This would be more for hobby usage.