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Activate the Johnny DC's in all 8 hub areas to show where the races are. The races will show a flag icon and some will appear after you've completed some quests in that area of the hub. There are 30 races to be completed.

For races with acrobatic and advance gliding you can simply change your character to a flying character to make it much easier. I'd suggest if you can for the car races to use Red Hood's bike since it's pretty small and just drive a little slow; if you drive to hardcore you might end up getting stuck.