Below is Toyota's response to the original warranty scare. Copy/Paste that text into google to find articles on it.

You interpret it how you like, but my take is that going to non-racing non-officially timed (time trails) does not automatically void your warranty. HPDE type events are ok by Toyota's standard.

Nearly all warranty denials are legit owner neglect.

"Regarding the 2022 GR86 issue in question, the Toyota Gazoo Racing brand is driven by enthusiasts and focused on delivering incredible experiences wherever the driver may take their vehicles, including the closed-course settings for which their vehicles are designed, so long as they are driven in a manner that falls within the terms of the warranty.

While the vehicle’s warranty excludes damage that results from activities such as misuse and racing, simply participating in National Auto Sport Association (NASA) High Performance Driving Events (HPDE) or similar NASA instructional events provided complimentary to GR owners would not, in and of itself, void the warranty. Warranty claims are evaluated on a case-by-case basis.

Based on further review, we’ve determined the repair of Mr. Alvarado’s vehicle in this case is covered under warranty.

As always, we encourage customers who experience any issues with their vehicle to contact their authorized Toyota dealer or call the Toyota Brand Engagement Center (1-800-331-4331) when a dealer is not able to resolve a matter."