the DE in HPDE stands for Driver Education (or Driving Event, but if you're trying to sell a point.) In NASA the main classroom instructor teaches how techniques, not only car control, but car position in relationship to corner, eye movement, paying attention and predicting other drivers actions, etc., makes you a better driver on the street and it's so true. if insurance agents took these courses they would become better drivers too.

as far as whether you're covered or not, it's up to you how fast you go. VIR is like any other road really. if you can drive down the road safely you most likely can drive VIR safely, especially when you have an instructor. if you drive like a jackass or out of your ability margin then you could hit something or someone.