"re-enter at the safest point"

Stop and go penalty would be fair and equitable. But enforce it every time you leave the track. Across the board. Leave no room for interpretation of racing incident/mistake/cheating.

Make a penalty lane behind the mechanics area. Speed limit is 5 mph. With radar showing their speed. Have an official stop then for 3 seconds. Get popped speeding then you are held for 8 seconds. And continue on.

This creates drama for the fan that doesn’t actually ride. Could attract viewership.
 
Line the track with barbed wire.

Every track is different. Sometimes it is impossible to enter the track where you left off.

Ever race at Daniel Boone?

Safely anyway. Just set some parameters. Like you must enter the next available point. Rather than just a point.
 
My dog went outside the track one time. That’s all it took. ZZZZAAP. He has never cheated since. And i didn’t know dogs could jump that high.
 
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