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@roboto
On the way home tonight a taxi did something similar to me. Lights were turning green as I approached and the taxi waiting at the lights wasn't indicating. I slowed as I was turning left anyway and lo and behold the taxi turned left too. He indicated 3/4 of the way round the corner, so that's ok.
I don't undertake vehicles at lights if I can help it, but I often see cyclists at this junction (Hackney Road/Queensbridge Road) filter down the left and RLJ etc.