Drag racing...
LOL, j/k. Definitely rally. In all racing you're trying to get from the start to the finish (or complete the laps) as quick as possible. Rally drivers have to deal with awful road (or-lack thereof) conditions. Other drivers get a nice smooth bitumen road.
Also, Rally drivers incorporate the skills required by the other types.
They use drag skills off the line,
Circuit racing throughout,
and drift skills around those funky corners through the mud.
It's like the difference between batting on an astroturf pitch and a real pitch.