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Introduce an independent panel of race doctors who assess riders injuries and have the power to overrule DSs and team doctors, and forcibly remove severely ill or injured riders from the race.
Of course it would still be difficult to remove riders for non-visible injuries or illness unless there were also rules along the lines of: all riders involved in a crash must report to the docs at the end of the stage for a checkup, and All riders must be checked by docs on each rest day.
It wouldn’t catch everything but mandatory removal from the race on medical grounds might remove some of the (apparent) pressure to continue at all costs.
I agree with the test of endurance. However I’m fed up of seeing racers put their long term health at risk due to team need.