Unreal, Houdini and a bunch of assets do this just fine and provide actually usable depth / infrared / weather / fog / TOD / and other relevant data for trainin

Unreal, Houdini and a bunch of assets do this just fine and provide actually usable depth / infrared / weather / fog / TOD / and other relevant data for training - likely cheaper than using their API See bifrost.ai and their fun videos of training naval drones to avoid whales in an ethical manners