IGN have reviewed Nascar Heat 2002 for the Xbox, giving it a score of 7.8 / 10.
The real meat of the game comes in the normal races where you'll get the AI working its magic. Looking for clean spots, drafting behind you, trying to work around your (usually) erratic driving behavior. It's hard to have realistic cars react around a somewhat unrealistic videogame player, but for the most part Heat manages to pull it off. Even when you're trying to hit cars, or slam on your brakes in front of them to catch a gleeful crash, you'll find that they're always quick to react to your moves without seeming mechanical. It's fun to watch, especially in replay.