As someone who's watched F1 for years - if you *really* want to see heart-in-your-mouth racing then watch Moto-GP bike racing - really, just give it a go.
The skill and guts of those guys is amazing - they can pack more into one lap than F1 does into an entire 2h race.
While it often doesn't have the 'pack jousting' that GP tracks have, the on-bike cameras at the Isle Of Man TT definitely give you the 'heart in mouth' experience.
Actually, if you really want to see a video with a real 'feel for the speed', check out
this crazy Russian.