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@Dammit
I still like the idea of copying the maritime world and having Pilots- i.e. when an HGV crosses the boundary of the north or south circular they have to stop to pick up a pilot, who is (possibly) mounted on a motorbike/similar.
It then becomes the responsibility of the pilot to navigate the HGV to its destination, and, critically, the pilot would be responsible for any collisions en route.