Thanks for the feedback! I had to cut almost all the features planned to make it in time.
The enemies AI is based on the "Steering Behaviors for Autonomous Characters" paper by Craig Reynolds.
Here is a good reference implementation - https://natureofcode.com/autonomous-agents/
Are they following a pre-drawn line for the track?
Basically, you are right - opponents' cars are "seeking" point by point along the path used to draw a track polygon.