When passing a vehicle, it is safe to return to your lane when:
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You look over your shoulder and see no vehicle behind you.
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You can see both headlights of the vehicle you passed in your rearview mirror.
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The driver you just passed signals you over.
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You can see the rear of the vehicle you passed in your rearview mirror.
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Explanation
If you must pass, do so only when you won’t interfere with oncoming traffic or the vehicle you’re passing, and be sure you have enough distance to pass safely. Check your mirrors and blind spots, turn on your left turn signal, then change lanes and pass on the left. Before returning to your own lane, signal and wait until you can see the vehicle you are passing in your rear-view mirror.
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This question appears in the following DMV practice tests: