https://ude.bmwusa.com
I did this a couple years ago and me and a dad from my kid's class are going to do it in a couple weeks. Basically BMW lets you beat the snot out of a new 5 series in a timed autocross lap. You get a few hot laps where a race car driver shows you what a terrible driver you are and then after they teach you the basics you and a team go out for a timed rally where you basically do a hot lap, get out of the car and another driver comes in and does one. The team with the best time wins and since these are true race car drivers they are really competitive and intense.
After (or before) that they have BMWs set up for you to take out on the road for a test drive, they demo features of different cars, feed you snacks, etc.
Best of all, it's free.
