Cooperative gameplay (often abbreviated as co-op) primarily refers to a feature in video games that allows players to work together as teammates with the absence of player-controlled competitors.{from wikipedia}
In that case, graw2 fits the bill, as do some modes of GTA. Having a broken neck, I don't get out much, so I really enjoy shooting the shit with people in a game. Crackdown fits that description nicely. You can play the game or just drive around doing stunt jumps, glitching, or making games up. That's why I play GTA so much, for the FreeMode. That what makes me so excited about Fable 2, being able to go to a bar, go on quests, or do nothing with your friends.