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Agree that there is not a specific offence but CPS charging guideline for s.3 RTA1988 state: "There are decided cases that provide some guidance as to the driving that courts will regard as careless or inconsiderate and the following examples are typical of what we are likely to regard as careless driving: overtaking on the inside;..."

I don't disagree with that. If it's not safe to do so, then it can be classed as careless. But, with further review of this video, this instance is not the case. You are stationary at the light. The car in the left lane leaves before you. What should have happened, is that they should have waited for you to pass them. But, with the reaction of the white car as you leave the lane. Means that you must be a cautious driver. (meaning that you drive below the speed limit and accelerate slowly.) This can quickly become very agonising for an impatient driver.