If we knew how to create world simulation, and how to make it working 4D, then humans would be able to plug themselves in, and experience 4D space. Alternatively there could simulated 4D beings, whose sentience could be transferred to robot body in our real 3D space.
I’d recommend checking out 4d Toys - I believe it is compatible with VR so you could sort of do what you’re describing.
You are correct that 4d toys (and other games) already simulate 4 spatial dimensions. But those games all display the 4th dimensional space from a 3 dimensional projection. I think what OP is suggesting is creating a game that displays an actual 4 spatial dimensions. I have argued in another comment that I don’t think this is possible in a way that our brains could ever percieve or process due to the limitations of a brain evolved in 3 spatial dimensions.