Fury 3 was its own game, albeit an extension of the TV engine. Both had some underground areas, though IIRC were mostly and best above ground.

Damn, Terminal Velocity, I probably haven't thought about this game in 3 decades! I played the hell out of it!

The gameplay in that YouTube video is very similar to "TV", so it probably is a rebrand.

Descent 3 also had outdoor environments, but they were all barren rocks.