I'm an avid auto crosser, done this for 4 years now.
Started in a Miata -> 02 Cougar -> C5 Vette -> Fox Mustang
Co-driven my friends Civics, S2000s, Vettes and Mustangs... Usually make it to maybe 15 events a year.
You wanna know what? Its a racecar if you race it. Too many people get hung up in "I don't have the right car / mods / helmet / the balls to do it"
I see everything from built Vettes to stone stock automatic Corollas. You wanna know what everyone has in common? We all have fun!
Put up with the homo / hairdresser jokes and get a Miata. Or come out of the closet and embrace your true self. Nothing is going to teach you to drive better than a Miata.
For your first 3-4 events dont screw with the damn thing. You wanna go faster? Adjust the nut behind the wheel!
Hop in every car for a ride-along you can. I got a ride in a fully prepped '69 C3 and nearly creamed myself (6 figure build easy).
Have the good people ride along with you and tell you where you can go faster.
Some regions have novice schools - go to one.
Every single person I've met at an autocross are nice people. I messed up one time and put my Vette in a ditch. Once we pulled it out I had 5 guys swarm me and say "what do we need to do to get you home?"
Everyone is willing to try and help you go faster, especially for a novice.
Its CHEAP. like $40 for a full day of entertainment.
Most events are found on motorsportreg.com. Great site, easy as pie and free.
https://www.motorsportreg.com/calendar/
Even if you rallycross (no experience there), the damn Miata's are still nationally competitive! check the 2019 nationals results. top 3 cars in ANY RWD class are Miata's.
http://file:///C:/Users/oy816/Downloads/19_RXN_Final_Results.pdf
True Rally is way way tougher to get into. Full cage, logbooks, different licenses (they don't let novices start in turbo cars as an example) way higher event cost, harder vehicle prep. Do your research if you're serious about that.