The only thing that I know of (that comes close) is the One Lap of America race. It's not a race on public roads, but a tour from race track to race track within a week period. While the competition moves across the country, the racing is only done on the tracks. From what I've read it's grueling, people are tired, cars get beat up. But, it makes for great reading in Car & Driver. Visit their website for more details.