Maybe the accident could have been avoided completely if the Waymo car drove more defensively? The article doesn't mention how fast it was travelling before it

Maybe the accident could have been avoided completely if the Waymo car drove more defensively? The article doesn't mention how fast it was travelling before it applied the brakes, but maybe it would be better to drive extra slowly while it can't "see" to the left because of a truck when driving through an intersection? Or not proceed into the intersection at all before it has a clear field of view? Of course there is also a balance between safety and practicality here. Above a certain level of traffic congestion, I assume even Waymo cars have to be a bit "assertive", otherwise they would wait for hours at a stop sign...