http://www.hardcoregaming101.net/raizing/raizing.htm
Kingdom Grandprix is a Raizing shmup, the sequel to Sorcer Striker / Mahou Daisakusen, developed in 1994, set in a 'rule of cool' driven fantasy/sci-fi setting.
Notable about this shmup is that while first and foremost it is a shmup, it has a racing mini-game behind it! In addition to surviving and killing bosses, you have to place first among 8 racers across all the stages of the first loop to be allowed to access the second loop and the game's real ending. You bounce off of walls and other racers (and can, for example, ram them into bullets to make them fall back - or be rammed BY them!) and you can 'go faster' by doing things like moving higher on the screen and holding down the fire button to stop firing and boost. It's also a 'large hitbox' shmup, so even TAS can't do effortless dodges.
So, end result -
This is a shmup where speed makes sense as a goal! (in addition to survival and scoring)
(Of course, IMO, score would be very interesting to TAS around for many shmups, but often that requires a really deep understanding to both TAS and appreciate, so speed is a nice goal to have too :) )
A recent episode of STG Weekly did this game, commentating over a 2-loop clear of the game (I think it's just a survival run, but they talk about all the mechanics of the game). The replay of the game starts at this timestamp:
http://www.youtube.com/watch?v=z6Da5Lt13xw#t=1h03m00s
(I'd embed it but I don't think embedding to a timestamp works on tasvideos.)
