Drivers should yield the right-of-way:
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At controlled intersections.
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Whenever possible.
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When they are in a roundabout or traffic circle.
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When it helps prevent a collision.
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Explanation
It's your responsibility to control your vehicle to avoid a crash, so always be aware of your surroundings and be prepared to yield when necessary. If you see another driver, pedestrian, or bicyclist in a situation where they have the right-of-way, you should yield and allow them to proceed to prevent a potential collision.
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