In MotoGP racing, it’s handled quite well. They cancel laps for qualifying and during a race, you get an official warning. You do it again with the warning up, you get a ‘long lap’, which is a small track-detour. Makes you lose a few seconds and with close competitors, also places. It’s an immediate punishment during the race for ‘touching the green’ - the area on the corner exit outside the kerb. Touching kerb is fine, touching green area is a no-no.

It happens every race to a few riders and it’s a fuck around and find out event for people who have a warning up on their name.

“If a rider goes outside track limits during a Free Practice, Practice or qualifying session – onto those areas outside the track surface that are painted green – it’s an easy one: the lap is cancelled.”

“[…]if a rider goes onto the green area three times, they’ll get a Long Lap penalty.”

https://www.motogp.com/en/news/2023/08/17/explained-track-limits/475875