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(BTW I just said PLR, it could be somewhere else, Im not positive that the setting is in there or somewhere else)
Edit: I got it. I knew it was in there (.PLR file) somewhere. I was ctrl+f ing searching "restart", "Start", "reset", etc. - But its listed under "Exit Confirmation".
Im not sure why, but if you turn it off it turns off the whole "Esc" feature for restarting, or any of the other stuff on that menu. It removes the entire menu. So if this comes up again, or if you want to be able to just "ESC" out of a race without confirmation, theres your solution.