Unless you're an employee of an automaker's engineering department, there's no (legal) way of knowing when and where you're going to stumble upon a prototype model testing on the road.
However, you can always be prepared for the opportunity by fitting a camera on your car, which is the case of CarScoop reader Michael R. who was recording his ride up Passo di Falzarego in the Italian Dolomites in an open-top Porsche model when a camouflaged model crossed his path.
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