Downforce is negative lift, yes.
It wasn't until recently in the history of F1 that the cars were designed in such a way that they could create more downforce than the weight of the car, allowing them to adhere to the walls or roof of a tunnel when operated at proper speeds.
Lift is increased as speed increases, which actually means that any vehicle could do this, as long as it generated a net negative lift over the surface of the vehicle, and could have sufficient speed to create enough negative lift to counteract the weight of the vehicle.
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