I think NASCAR would be better in touch with the public if they made a few changes.
First off, put mufflers on the cars - Stay with me, you will see how this leads to better things.
Second, draw a white line down the centre of the road, and split the field into 2 heats, one going in each direction.
The over bridges for spectators moving from inside to outside the track should be closed, and pedestrian crossings - with push button stop light installed. The reduced noise of the cars will be a help here, as they won't be as easy to hear coming.
There are a few other things that can be done, but we'll get these introduced first.