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Would it be illegal to drive home with it behind you on the seat ( like sitting on it) with your normal seat belt on coming back from a track day?
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I do that all the time.
As mentioned before, driving on the road with a harness is a bad idea. Biggest reason is you can't turn to look out the side windows/blind spots etc.
I have a 3" Willans 4 point harness with a RMS chrome moly harness bar in the boot. Very nice setup and you even get to remove the rear seats for that added "racer cred"
I would recommend a harness that has separate lap sash belts. Much easier to get in and remove the harness when driving.
Jaron if you want to I'll have the harness in for this Saturdays RMS Driver Training day. Feel free to jump in and feel what its like.
J.