I re-read my post and found it to be a bit ambiguos. So here's the improved version 
Imagine a disc rotating about its axis. Torque then means how much force needs to be applied at the disk's edge (tangentially) to stop the rotation. Under this condition the torque and external force cancel out, so the external force applied is a measure of the torque.
If we denote the external force required to stop the disc as 'F', torque being applied at the disc's centre as 'T', and 'r' as the radius of the disc. Then, F = T/r (i.e., the larger the disc, the lesser force it will take to stop the disc for the same torque being applied at the centre). Imagine how easy it would be to stop a fan by its blades than by its rotor.
Conversely, if an external force F is applied to a non-rotating disc of radius r, then the torque developed at the center of the disc is given by, T = F*r (i.e., the larger the disc, the greater is the torque developed at the center for the same external force). Imagine using a long spanner and a short one to unscrew a nut - which makes it easier? The long one (greater length - extend that to the disc we get a greater radius).
Now, greater torque does not necessarily mean greater RPM - think about a small tape motor, the one you find in home audio systems (high RPM, low torque) v/s a large pump motor (low RPM, high torque).
As for the question of how torque affects driving pleasure, everything else being the same an engine with greater torque means that the vehicle can move greater load or move up a slope better than one that has lower torque.
S = k.I^2, where S is the amount of stupidity a species possesses, I is the intelligence the species has and k is the universal constant of stupidity.
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