Edwards shocked the NASCAR world when he quit aged 37 following a 2016 season in which he came close to winning an elusive first Cup series title.
A late-race crash in the Homestead season finale attempting to defend from fellow championship challenger Joey Logano cost Edwards a shot at the crown, which ultimately went to Jimmie Johnson.
He won 28 races during his Cup career, but never won the title. He finished runner-up to Johnson in 2008 and again to Tony Stewart in 2011.
Edwards made a rare trackside appearance at Darlington on Sunday after being announced as a member of NASCAR's 75 Greatest drivers list, and joined the FOX Sports TV booth for the second stage of the Cup Series race.
While in the booth, his fellow retired driver Clint Bowyer asked if Edwards had ever considered making a return to NASCAR.
He replied: "It was easy to not race when I first stepped away, but it's getting harder and harder.
"I like sliding stuff around and driving cars. So there'll be a time when I go do something. Maybe sim work, something like that ... to see if I could still drive. It's a step-by-step process."
Edwards then added: "I love racing cars. I love driving cars. But I want to do it at 100%.
Source: Autosport