Can we play the game on a soft modded ps2 with a burned disk

Need more detail. Is the game modified at all? What does a "burned disk" mean? If you're just loading the game digitally rather than through disk loading then it's okay

what i mean is that i soft modded my ps2 then i burn the original sonic unleashed game to a dvd then i put it in my ps2 and then speedrun also the game is not modded

Yeah, that's probably fine