Is there a term for joyriding without stealing a car or endangering myself?

Solution 1:

The definition of the word "cruise" is as follows:

Sail about in an area without a precise destination, especially for pleasure. (Oxford)

Although that pertains more to sailboats, I do believe it can also be used for land vehicles as well. You can say that you were "cruising around town," as an example.

Solution 2:

Excursion applies to a brief pleasure trip, usually no more than a day in length. It is the preferred term esp. in railroad and steamship use.

• An excursion is taken more for pleasure than for practical reasons.

Jaunt carries a stronger implication of casualness and informality and is esp. applicable to short trip away from one's home, usually for pleasure or recreation.

• they are off for a day's jaunt.

  (MW dictionary of synonyms)

Solution 3:

"go for a hoon (in the car)" works in New Zealand english.