I'll admit racers aren't something I've paid attention to, but whereas Koranot from Super Castlevania IV is a background object, the growing/shrinking(when taking a hit) final form of Dracula on the Genesis, with a background with effects, was a sprite. That kind of scaling you never saw in SNES sprites during action games. There's a lot more examples, but that's the only one fresh on my mind, plus being games from the same series made that comparison easier. Alianger's 2nd link shows off some of the others.
Not exactly relevant to the conversation at hand, but again how much of that is Japan exclusive, from the disc add-on(for the record it's not like the Sega CD doesn't add anything to the genre either), or both? The list I made was specific to the console without add-ons, or from non-NA regions, about half of which of which still made it to Europe.