All of this is infinitely nuanced anyway. There might not be a side street. It can happen on the highway too when cars switch lanes to exit. And it's not like it happens every day, it's fairly rare, I just have yet to actually _need_ the car to do it, by a fairly wide margin.
1-2 car lengths (not in literal units of 15-feet each, I mean one or two _seconds_ of follow distance minimum after accounting for speed/traffic/weather) going the speed limit with my foot off the gas and over the brake, paying attention ready to slow down fast in case of a contingency feels very safe to me. Again, pretty nuanced, this only lasts for a handful of seconds while the lead car completes their maneuver.
The salient point is that I already do what the machine tries to replicate, I don't need my maneuver clobbered by another system.