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"): It has been held at the open air space in front of Ngee Ann City since its inauguration in (31 October) 2002.
Relevant evidence: Yes