Here is a titles grab from the show: Top Gear Live.
There are two editions of Top Gear Live included on the BBC Genome project, which lists Radio Times entries. One edition of the motor show at Silverstone went out on BBC 2 in May 1998, and here is the entry for the first one in 20 July 1996:
“Last Thursday, the world’s first interactive motor show, Top Gear Live, opened at Silverstone, giving the public the chance to go for a test drive on the circuit that recently staged the British Grand Prix. The team from BBC2’s Top Gear programme reports from the five-day event whose attractions include motorcycle stunts, monster trucks, new cars, classic designs, karts and off-road vehicles. Presented by Jeremy Clarkson , Quentin Willson , Tiff Needell , Michele Newman , Tony Mason and Steve Berry.
Producers Jon Bentley and John Wilcox
Presented By: Jeremy Clarkson
Presented By: Quentin Willson
Presented By: Tiff Needell
Presented By: Michele Newman
Presented By: Tony Mason
Presented By: Steve Berry.
Producers: Jon Bentley
Producers: John Wilcox”
Thanks to Ian Collins for making the still available.