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The penalty system is based on any 'advantage' you may have gained. If you go wide, but no advantage is gained over the opposition, then no penalty is applied.
Also, if an advantage is gained, but it it very small, then the penalty is very small too. If you cut a large portion of track at full throttle, then your penalty will be much larger.
If I go wide, I always lift off the throttle at the point of going off track, to try and reduce any advantage.
The way you guys have implemented it is simply brilliant. Clearly demonstrates a well thought-out approach.
Can't wait to see what the future holds. 👍