Question: MediaCorp Subaru Impreza WRX Challenge has been held since its inauguration at the open air space in front of a shopping and commercial centre that was offically opened in what year?
Sentence (from "MediaCorp Subaru Impreza WRX Challenge"): MediaCorp Subaru Impreza WRX Challenge (Chinese: 比耐力赢轿车比赛) is an annual challenge organised by MediaCorp Radio and Subaru in Singapore.
Relevant evidence: Yes