I don't know about other regions but the Northeast region does a "taste of the track" during lunch break. Usually a $20 donation that goes to a charity. Does not require a helmet and the speeds are limited. A good way to get a better idea of what HPDE is all about.
If you do sign up for a full HPDE event, all you need is a helmet that meets or exceeds SA2015 requirements and a car that is in good shape. You don't need special brake pads, racing tires, 6-point harnesses, etc. Like others have said, don't overthink it. The usual feedback I get from most new drivers is "why did I wait so long to try HPDE".
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