Spencer Gallagher, fresh off his second place at the Springfield mile dirt track, was second fastest in his No. 23 Allegiant Travel Chevrolet.
Other top five practice times came from series point leader Frank Kimmel and Michael Lira of Port Orange, Fla. in the No. 69 Gary Yeomans Ford.
Sauter, who has 10 consecutive late model wins at Madison, is making his ARCA Racing Series debut with Roulo Brothers Racing. Kenseth is also making his ARCA debut in a car owned by Ken Schrader.
The practice session got off to a late start after A.J. Henriksen, in the Venturini Motorsports No. 55, crashed into the entrance to pit road as the session began.
The second and final practice session is scheduled for 2:15 to 3 p.m. with Menards Pole Qualifying presented by Ansell set for 4:30 p.m. Follow arcaracing.com for timing and scoring throughout the day.
The Herr’s Live Life With Flavor 200 is at 2 p.m. Sunday. Live timing and scoring and audio over the ARCA Racing Network will be available on arcaracing.com while NBC Sports Network will televise the race on a tape-delay basis at 11 p.m. Aug. 29. Rick Benjamin and Schrader will be in the broadcast booth with Jim Tretow doing the pit road reporting.