Race Lineup : Martinsville Speedway
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- Martinsville Speedway
- United Rentals 200
- Pole Winner: John Hunter Nemechek
- Age: 24
- Team: No. 4 - Pye-Barker Fire & Safety Toyota
- Owner: Kyle Busch Motorsports
- Crew Chief: Eric Phillips
- Start positions set by NASCAR's Performance Metrics Qualifying (PMQ).
- John Hunter Nemechek won the Pole Award for the United Rentals 200 by having the highest total PMQ.
- PMQ is a total number calculated on four performance metrics from the previous race:
- 15% of the driver's fastest lap time position.
- 25% of the driver's final race finish position.
- 25% of the owner's final race position.
- 35% of the Owner Points position.
- Drivers Entered: 40 (4 drivers will not make the race)
- Laps Scheduled: 200
- Laps Actual: 204 - NASCAR OVERTIME!
- Margin of Victory: Under Caution Seconds
- Time of Race: 1 Hours 54 Minutes 9 Seconds
- Average Speed: 56.402
- Cautions: 14 for 89 laps
- Lead Changes: 10
- Green Flag Passes: 1,148 (10.0 passes per green flag lap)
- Martinsville Speedway
- 23rd Annual United Rentals 200
- Race Winner: Zane Smith
- Age: 22
- Team : No. 21 - MRC Construction Chevrolet
- Owner: GMS Racing
- Crew Chief: Kevin Manion
- Zane Smith won the 23rd Annual United Rentals 200, his third victory in 45 NASCAR Camping World Truck Series races.
- This is his first victory and 13th top-10 finish in 2021.
- This is his first victory and second top-10 finish in two races at Martinsville Speedway.
- Austin Hill (second) posted his third top-10 finish in 11 races at Martinsville Speedway. It is his 14th top-10 finish in 2021.
- Tanner Gray (third) posted his first top-10 finish in three races at Martinsville Speedway.
- Chandler Smith (fourth) was the highest finishing rookie.
- Ben Rhodes, John Hunter Nemechek, Matt Crafton and Zane Smith have advanced to the 2021 NASCAR Camping World Truck Series Playoffs Championship 4 Round.
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