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On the liability, that's not necessarily true. I've been hit whilst filtering in the UK and it went as 50/50, despite it clearly being the drivers fault. Friends with better representation, have managed to claim in full from the drivers. I don't know anyone that has been found to be at fault in filtering incidents. Insurance companies are f'ing lazy, if they can rule 50/50, they will.
Only filter at a max speed of 20mph, while the traffic is doing <20mph?
That sounds about right.
Admittedly I'm fairly cautious, but I am always surprised by how fast people filter through stationary or slow moving traffic on my commute. Mainly I worry that if a car changes lanes without looking while traffic is moving then my insurance will find me at fault.