Practice is perfect. From a stop, it sounds like you are doing the right thing.
In traffic, I give myself at least a car lengths distance from the car ahead of me. I'm either in 1st or 2nd and can roll along with the traffic. This is through heavy traffic on 101 or 880 mind you.
Yes, sometimes you have to put it in neutral and stop but just give yourself some room. Who cares if people go ahead of you.
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