Not true. I've always driven RWD and have competed in National Amateur racing events with the SCCA (and taught high performance driving techniques at my local club).

I setup my cars with a heafty amount of rear toe-in (1/4"). When the weight transfers left/right or one of the rear wheels hits a bump/hole it will push the car in one direction similar to torquing one side of a shopping cart with your hand.

A RWD setup allows the car to be more efficient with its tires (using one set for turning and one for power vs. one for both). FWD is just seen as safer because most people panic when a car oversteers. As the saying goes among driving enthusiasts: "Oversteer scares passengers, Understeer scares drivers"