Kingdom Grand Prix is a vertically scrolling shooter/racing hybrid arcade game created by Eighting/Raizing, it was later ported to the Sega Saturn. It is the second in the Mahou Daisakusen series, but the first to include the bizarre but original feature of being a shooter/racing hybrid.
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My favorite shmup and one of my favorite games of all time. Kingdom Grand Prix is a shmup that doubles as a racing game with branching paths, multiple characters with their own quotes/endings, and some ludicrously detailed backgrounds with speedy scrolling. A tight package from start to finish with a bumpin' soundtrack and a fun emphasis on both speed AND score. Top marks.