The team was founded by Walker, who purchased the left over assets of the former Porsche Indy team. In the first season, 1991, the team successfully qualified rookie
Willy T. Ribbs at the
Indy 500. In 1992, the team fielded
Scott Goodyear on a full-time basis who won at
Michigan and nearly won the
1992 Indianapolis 500. He was joined beginning with the
1993 Indianapolis 500 by
Willy T. Ribbs who raced with the team until the end of the 1994 season. The team ran a third full-time car in 1993 for
Hiro Matsushita. Goodyear was replaced at the beginning of the 1994 season by
Robby Gordon who raced with the team with
Valvoline sponsorship until 1996. Gordon raced alongside teammate
Mark Smith who was a championship contender in Indy Lights and showed promise in his 1993 CART rookie season but had a difficult 1994 season with the Walker Racing team. Smith was replaced by rookie
Christian Fittipaldi in 1995 who finished second in the Indy 500 and finished 15th in points. As a results of the CART–
IRL split in 1996, the Walker team elected to participate in both races with Gordon and
Fredrik Ekblom driving in the
U.S. 500 and
Mike Groff racing in the
1996 Indianapolis 500. In 1997,
Gil de Ferran took over the Valvoline car and was the runner up in the championship that year, despite not scoring a victory. De Ferran stayed with the team until 1999, a year where he finally broke through and scored his first victory for the team, the team's first since Gordon's win at
Detroit in 1995. ==A series of pay drivers==