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While its true that he can spend his parenting time as he wishes, if there is an issue of child protection arising, then it needs to be addressed. So no, driving at high (and illegal) speeds isnt something he can or should be doing, esp with his daughter in the car.
I wonder if there had been a regular routine to contact, rather than an ad hoc basis, then perhaps your daughter would feel more settled, and he would take his responsibilities a bit more seriously.
When you say "supervised contact" what did you have in mind? Supervised contact is often not conducive to forming a good relationship between child and parent.
Have you thought about attending family mediation sessions, as a way to move forward and work to resolve the current issues between you? Courts in Scotland prefer conflicting parents to have at least made an attempt to resolve the issues amicably, before they get to Court.