I wouldn't buy a used car without driving it first, but why would you need to drive a brand new one? You had you test drives already, right? Ask how many miles are on the odometer to make sure that it had no extensive test drive history and you'll be good. I've never test driven the new cars I bought. Most of them were factory ordered, and one on the lot I bought out of state.
As for the $3000 price "mistake", franchised new car dealers are not that sleazy anymore. They will pressure you to buy "protection", "nitrogen fill" and so on, but you can (and should) say no to everything.
*** 2019 Hybrid Limited ***