You may pass another vehicle:

Only when you are traveling on an expressway.
After having checked that the lane on your left is clear.
Always, as long as you think it is safe.
On a hill if you don't hear vehicles approaching in the opposite direction.
Explanation

You may pass another vehicle only after checking that the lane to your left is clear of traffic. Always use your turn signals to clearly communicate your intentions to other drivers. Never attempt to pass when approaching a curve or hill where your view of oncoming traffic is limited. If your visibility is blocked, assume that a vehicle could be approaching from the opposite direction - even if you can’t see or hear it yet.

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This question appears in the following DMV practice tests: