I tried inserting my card at the pump at Shell and not removing it right away. After a second or so, it said "remove card" and only asked if it was a debit card before immediately approving. I didn't even get the ZIP code prompt this time either (unlike my attempt where I immediately removed after inserting). Is it possible that it's something Visa specific that required a ZIP code/verification inside?

I also tried to see if my MSD-only contactless card (Diners Club) would work but the person on shift tonight wouldn't let me attempt tapping.