Do we ever get to see Bunta race?
Throughout the anime there are a few scenes of Bunta racing solo, and as the other answer stated, there is one scene where Bunta "races" Takumi after getting his WRX, though it wasn't a proper race (more of an impromptu battle), and Takumi didn't know it was Bunta.

As far as I can remember, there were no actual races with Bunta in. I could be wrong, but I don't think there are.