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Currently you are able to watch "NASCAR on Fox" streaming on Tubi TV for free with ads.
NASCAR on Fox is the branding used for Fox Sports's Emmy-winning broadcasts of NASCAR races on the Fox network in the United States since 2001. Speed, a channel owned by Fox, has broadcast NASCAR related events since February 2002, with Fox Sports 1 taking over for Speed coverage starting in August 2013. The production has been in high-definition since 2005.