I'm not a pro, so apologies if I'm teaching granny to suck eggs....
I think you've pretty much identified the issue as shutter speed - it's a tough one to get right; too fast, and the images are too static, too slow, and your hit-rate plummets.
I found when shooting the Irish GP (touring cars, so very fast indeed!) that pre-focus was mandatory - I tended to get more shots of the top drivers' cars because they stuck more closely to the racing line, upon which I was focused and waiting!
Panning is a must, and I even did a bit of zoom-panning, to give it a name - start wide, then zoom in as you pan to crop as close as possible.
One thing I found very successful was finding a chicane, to capture multi-car shots as they rounded the second bend (with the chasing cars in the background). As it was also an accident black-spot, I got some crash photos I was delighted with too!
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