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You need to check out visibility from the driver's position.
With some track layouts it's no problem but -
I've seen several tracks where the barrier height has had to be reduced on one or two corners so that the drivers can see the cars.
Some tracks use a transparent barriers on a corner where this is a particular problem.

As for height, at 5 or 6 cm cars going over the barriers are quite rare, but it can happen occasional.
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