I went there on a Monday morning after the race with my rental car. Most of the Armco was still in place except for the pit area (old version). After a doing a lap at moderate speeds I went into the pits where a policeman shewed me away. Was funny.
I believe that Monday late night/early Tuesday is the "sweet spot" if you want to try the F1 circuit and drive fast without risking a fine. Monday after the GP is a holiday in the Principality and my guess is that it is also the day with the least police officers on duty because of the intense GP week. I remember seeing police there on Monday after lunch near the harbor but seemed they disappeared during the evening. Anyway, I will try it again next year.