reading from the model 3.cpp for mame, there is no indication for stepping other than the CPU change on the "2.x" boards. it appears that step 1.5 clock speed is incorrect, as scud race runs at 66 MHz and for step 2.1, step 2.1 is not marked on the PCB.
EDIT: step 1.5 just overclocks the GPU, step 2.1 is just revises the chips on 2.0. any "2.1" game will work on 2.0. same for a 2.0 game.