The trick is to actually read the policy, and there is a difference between a test and tune and bracket or heads up race. Test and tune isn't considered a "speed contest" as you are not racing anybody and just "testing and tuning" in the safest environment possible. It is no different than hitting the concrete piling of a light pole in a shopping center parking lot as both happen on private property and neither would be breaking any laws as far as reckless driving, speeding, etc... Either way, it would be covered under comprehensive.
As far as asking the insurance agent, call a different agent from the same company and ask them, that way it doesn't look funny to your agent when you place the claim.
As far as asking the insurance agent, call a different agent from the same company and ask them, that way it doesn't look funny to your agent when you place the claim.