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I used to race a lot of triathlons (Xterra, 1/2 and full Ironman), ultra trail, and marathon MTB, don't have the time to train anymore so I haven't raced in a few years. Highly recommend it, you meet lots of cool people and have more of a reason to go to places you might not have otherwise.
99% of the people involved in long distance endurance racing are only competitive with themselves and are some of the mellowest people you will meet. The people in this thread coming up with "everything isn't a race these people are just attention whores just relax" are quite clearly the opposite. Perhaps some racing can alleviate some of your insecurity, or allow you to focus on doing outdoor activities instead of worrying about how other people enjoy the outdoors?