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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.
Filter at 20mph above traffic speed max. Filter up to traffic doing 20mph.
20/40rule too.
Sometimes you can go faster but sometimes slower too.
Just use common sense. You'll the one that'll get done if shit hits fan.