In 2002, Almirola moved to the NASCAR Sun Belt Weekly Racing Division and finished second in the Rookie of the Year standings. He followed that up with five pole positions in 2003. In 2004, he became one of the first drivers to participate in NASCAR's Drive for Diversity program. He also signed with Joe Gibbs Racing as a development driver under a partnership with former NFL player Reggie White. Almirola ran the season at Ace Speedway, and won two races before finishing 11th in the points standings. He won five more races at the track in 2005, and made his Truck Series debut with Morgan-Dollar Motorsports and had two top-tens in four races.