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As I've gotten older I have become much more situationally aware (and cautious). I would have been way on the brakes well before the hit. In fact, as I was watching this I was hitting the imaginary brake pedal on the floor as soon as i caught "abnormal" movement on the right and certainly would have been braking when the van started braking. The driver of the M-B even started seeing a problem...yet I did not detect any advance braking in the video.
There is nothing wrong with slowing gown with things don't look right.
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