I drew my layout by cutting together circles and straight lines. I drew in the circles first and then used a copy of them to make guides, so that I would have the centerpoint. My first try looked a lot like yours - the main issue I had with it was that the squares don't line properly on the straights. Getting this alignment took some finessing.
The other issue is that in the corners, each lane has a different number of spaces – the inside lane being the shortest. Using the pattern brush technique comes close, but it fails to get the spacing right. I found that I needed to use "expand appearance" on the squares and manually adjust the lines for the corners (making sure they aligned to the centerpoint of the circle that I made a guide for earlier).



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