All passenger cars, when driven by a human driver, are driving in a "torque demand" mode. The accelerator pedal position is monitored, and various "pedal maps" are applied to create a "driver demand flywheel torque". The Engine ecu is then responsible for setting the engine control actuators (throttle, injectors, ignition, turbo etc) to create that torque. Modern "torque based" engine management systems use torque as their primary control parameter, so as to be able to arbitrate between various torque sources, for example, gearbox request (to get a smooth change) or Stability control intervention (torque down or torque up etc)
The "Human" driver closes the loop, by applying a suitable pedal input to accelerate the car at a rate that suits them, to a speed that suits them. To enable it to all feel nice, we (powertrain calibration engineers like myself) spend a huge amount of time mapping a vast number of calibratable parameters, over 50,000 in a modern engine ecu, to deliver a powertrain response that feels natural for the vehicle application (which depends on what the car is, and how it is likely to be driven, ie a big difference between say a sports car and a van for example)
If the vehicle features cruse control, then a closed loop speed control loop is enabled to function in place of the driver demand (the driver no longer has to have their foot on the accelerator pedal), but that demand is cancelled by either the cruse control being switched off by the driver, or by the driver pressing the brake pedal, or by stability control intervention.
In an ICE powertrain, driver demand is bi-directional, but the maximum negative torque is limited by the total frictional torque of the engine, as the engine cannot "absorb" any more torque than the torque required to drive it around when it is not firing. For an EV, which has a truely bi-directional powertrain and can fundamentally absorb as much torque as it can apply, then the maximum negative torque is limited by factors such as tyre adhesion and passenger comfort. Many current EVs feature "one pedal" driving where the vehicle can be controlled with just the accelerator alone unless an emergency stop (using the conventional friction brakes) is required.
To make maneuvering easy, some EVs actually blend out of torque control into a very low gain speed control at ultra low speed (sub 1mph) where the accelerator demand actually becomes a speed demand input to a closed loop speed controller, the output of which is blended to the "torque demand" output to give a very smooth entry and exit into low speed driving (ie in heavy traffic etc) Because of this EVs can be driven a very low by stable speed without excessive jerk or shunt.