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I think world superbike did a similar single lap qualifying format a few years back.
I seem to remember that as a bike was on its qualifying lap the next bike was at the end of pit lane and given the green light to leave as the fast bike was a set distance/time round.
With all cars circulating within 3/4 secs a lap difference it would not be hard to work out the correct timing for cars to leave garage, wait at pit lane exit and complete fast lap.
There would be no interference from other cars and if you mess up you mess up.
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