For it to read like that it needs a comma here:
while I'm sat next to them enjoying not going anywhere, and then when the lights change nip off doing more than 30mph in a 20 zone.
The issue with 6pt's sentence wasn't the lack of a comma but omitting the subject in the last clause.
I agree that including the subject in the last clause would also fix it.
@Oliver Schick started
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For it to read like that it needs a comma here: