After passing a vehicle, it is safe to return to your driving lane when:
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You signal your intention for three seconds.
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The driver you passed signals for you to return to your lane.
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You see the headlights of the passed vehicle in your rearview mirror.
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Explanation
Before you return to your driving lane, be sure you are not dangerously close to the vehicle you have just passed. One way to do this is to look for the vehicle in your inside rearview mirror. When you can see both headlights in your rearview mirror, you may have enough room to return to your driving lane.
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This question appears in the following DMV practice tests: