I would have to say YES it does. I did the Grand Valley Enduro a couple months back in a Dodge Viper SRT-10, and when I went in the pits, I only filled up to a half-tank on purpose, just to see if it would make any difference. The difference between a full tank and a half-full tank (or less) was marginal, but I did notice I'd be going faster towards the end of the straight...my driving was a bit erratic since this car is tricky to drive, so I couldn't say my lap times made much of a difference.
I've also done the 1000 Miles! events 4x now. At Nurb, I've made it a habit to drive on a half tank, and towards the end of that long straight, I'll notice (again) that I'll be cruising 2 or 3 miles per hour faster than if I had a full tank. A marginal difference, but it adds up over time, of course. 👍