Tesla is gearing up to officially challenge Porsche at the legendary Nürburgring race track. These are the cars the Model S would have to beat to set the all-time record. (TSLA)

According to Tesla CEO Elon Musk, the electric-car maker wants to take on Porsche at the legendary Nürburgring-Nordschleife race track in Germany.

A Porsche Taycan Turbo prototype set a record in August for the fastest lap by a four-door electric car at seven minutes and 42 seconds. Musk has suggested that Tesla will at some point attempt to break that record with its Model S sedan.

A Model S "Plaid" prototype drove on the track this week, clocking an unofficial time of about seven minutes and 20 seconds, according to Tesla.

Read more: Elon Musk says he wants to put a Tesla Model S on the legendary Nürburgring race track in Germany. Here's what that's all about.

The Taycan Turbo's lap time is still a ways off from the all-time record, set last year by the Porsche 919 Hybrid Evo.

These are the best Nürburgring lap times from vehicles in six categories, according to the race track's website.

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