You can get rid of the warping by matching the game’s camera field of view to your headset’s field of view. I’m not really familiar with the game but I think there is an option in the game menu that lets you raise the FOV. If the game doesn’t let you raise it high enough, you can compensate for the rest with the ‘image zoom’ option in the vorpX menu (at the expense of black bars).
In about 150 games vorpX can take care of FOV automatically, but not in BeamNG currently. if you want to learn a bit more about the matter in general and the various options you have to deal with it if vorpX can’t do it automatically, check the ‘Essential Hints’ guide in the vorpX help. Highly recommended, saves a lot of trial and error.