Yes. They get more expensive if you want more programming features.

Not sure what your budget is, but this is easily exactly what you're looking for if you want to talk to each other.

https://racingelectronics.com/collections/scanners-accessories/products/re3000-gem5-pkg

You could try to save some money by buying the headsets then getting the scanner from amazon. https://www.amazon.com/dp/B00772MR0K/ref=cm_sw_em_r_mt_dp_U_-1GgFbT4BX2SY

This is the gold standard outside of the RE brand. Others on here will recommend a BaoFeng for like $40, but technically you need to be licensed to operate it. Either way, as others said, you need to program these yourself. RE broadcasts a signal at the track that programs it for you.

Edit: Not sure if you're aware only because you didn't mention it, a scanner receives more than the radio broadcast you can also listen to the drivers/spotters/teams/track officials.