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You asked:

does darrell waltrip have any brothers or sisters

Yes. Darrell Waltrip has at least one sibling.
Darrell Waltrip
Darrell Waltrip
Darrell Waltrip

Darrell Lee Waltrip (born February 5, 1947 in Owensboro, Kentucky), the three-time former NASCAR Winston Cup champion, the 1989 Daytona 500 winner, and current television race commentator with Fox Broadcasting Company