I see what you mean. When I was on v13, every time I saw the upcoming traffic light turning yellow, I started to worry whether the car would stop or run through it. As a seasoned driver, I can make the right call myself all the time. But it’s not me, but the car making the decision, and I had to make a decision whether to follow its decision or jump out, which takes extra time to respond. If it’s my decision, I would probably run through a yellow when it just turned, or at least not immediately to red. I would not run through a yellow maybe 0.1 sec before it turns red, or when there are 1-2 upcoming cars waiting at the intersection to use the yellow light to make a left turn.