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Although I wouldn't encourage it, there is plenty of opportunity to join in, although you should plan it in advance as trying to meet up on the route can be tricky.
I would suggest waiting on the A12, just after the start. Riders are sent up both slip roads alternately, but there are plenty of people that stop and wait there for friends who are starting a bit later so you can prob get lost in the commotion.
The Mrs has an entry for RL so I was probably going to come down for it with her, just wondering how possible it was to just hop on the course a couple of miles up the road.
I'm guessing they're probably quite vigilant regarding 'intruders' with it being a closed road thing.