Do we ever get to see Bunta race? Throughout Initial D, we watch Bunta Fujiwara coach Takumi indirectly through little pointers here and there, often before Takumi goes out on tofu runs. In later seasons, we eventually see Bunta overtake Takumi using the Impreza, while Takumi was driving the AE86. From these examples throughout the anime, it is apparent that Bunta is a fantastic and experienced driver. However, to the extent of my knowledge, we do not actually get to see him race or learn much about his background.

Is there a point, in the manga or anime (I've only watched the anime), where we learn more about Bunta Fujiwara's driving background or see him race?
Throughout the anime there are a few scenes of Bunta racing solo, and as the other answer stated, there is one scene where Bunta "races" Takumi after getting his WRX, though it wasn't a proper race (more of an impromptu battle), and Takumi didn't know it was Bunta.

As far as I can remember, there were no actual races with Bunta in. I could be wrong, but I don't think there are.