> one intersection I'm familiar with has a single lane out of 4 leading to the highway on ramp. I suspected instantly you were talking about the prospect Ave B

> one intersection I'm familiar with has a single lane out of 4 leading to the highway on ramp. I suspected instantly you were talking about the prospect Ave BQE entrance . I make that left off third ave onto Hamilton most mornings, and the difference between being in the first- or second-from-left vs third-from-left turning lane is probably an extra 10 minute delay for exactly the reason you describe. I’m no expert in self-driving cars/line following robots, but I suspect real-world NYC driving is computationally impossible at this time.