When a replay starts press (p) 'pause' so you dont lose sight of the car then, press shift+u so the camera zooms out, and in the bottom left hand corner it will say 'Nearest car' click follow car, zoom back in using the wheel slider on your mouse hold the left mouse button to get the camera in the place you want it, hold the Right mouse button to roatate the camera, then unpause the game.
Also- if you would like the view to be a fixed axis to your car, simply go into your "Custom View" in your Options Menu. From there you can edit the X, Y, Z, Pitch, Rotate, etc. to achieve the shot you have visualized. Good luck!