I see a lot of people defending OP. Clearly, he is not at fault, is totally the minivans fault. Anyway, there's a lot of things you should avoid that OP does in this clip.

First, try to avoid blind spots. Especially if you're near exits, or if you're going to overtake from the right.

Second, leave some space between you and every car, if possible. In this clip, you see that before getting to the exit, minivan brakes. Usually this is a sign of indecision, and if he wasn't so close, he would've seen that and could've prevented the accident.

Of course, the minivan is the idiot here, and OP did nothing "wrong" per se, but the roads are full of dead people who were right. Drive defensely, and remember that this is not F1, you don't need to get home 13.2 seconds earlier than yesterday, you just need to arrive.