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@middleofnowhere
Cars see the amber, and first few seconds of red, as fair game (from which I would hypothesise that cars probably RLJ with a similar frequency to cyclists). Taking the cue from either set of lights is fine so long as you are also checking to see that the crossing traffic has stopped. Perhaps from further back I can see the traffic flow better and can anticipate the safe time to pull across while the nodders are waiting stationary, both feet on the ground, trying to determing if it is safe to pull out.