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I went in 2019. Stayed in Osaka and took a train to the circuit in the morning(1.5hrs ish) 1 train, hassle free.
At the train station, there are dozens of F1 Suzuka bound charter busses waiting. Although the lines were massive it moved relatively quick. Wasn't much of a hassle. Of course if you decide to stay in Nagoya it would be a bit easier closer.
I would recommend putting aside the entire day for it.
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