Yes, nascar race cars have a reverse. They are standard 4-speed Manual transmissions, in a not-so-standard car.
They are anything but standard four-speeds. Everyone uses Jerico transmissions, which are made for ease of changing the gear cluster. If you want a different gear ratio in the car, you open the little door in the floorplan, open the top of the transmission, and do your work. Very simple and direct. They also definitely have reverse.
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