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You only have to visit Castle Combe to see how it can be done.
As soon as previous race is finished, cars are released from the collecting area direct to the grid (no formation lap).
While they form up the winners of the previous race are interviewed just in front of the grid. They then have their parade lap on the pickup, followed by their race cars. The course car follows this group.
As soon as that lap is finished the green flag lap starts, followed by the race start.
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