I tell you you are wrong. enable cheats like jaks goate and it will in the cutscene, set a vehicle on fire and you might see it passing by, still burning, in the cutscene.it has been a while but if I remember correctly, all of them has video compression artifacts for cut scene, even more noticeable for Jak 2 and 3 in 480p mode. Most Sony first party games on PS2 use pre recorded fmv.
Just to be sure I just booted up Jak 3 in PSX2 and it renders the intro with lots of graphical bugs - definitly realtime.
And while Jak 2 had some tedious annoying driving around between missions, it was still alot better than say... Mafia which was just downright useless and boring. Most of the game actually is not unlike Uncharted, without on-rails platforming and good bosses (just to try to stear the thread ontopic gain =) )