I find that drafting a semi around here (Toronto/Mississauga) is actually safer than you might think. My reasoning goes like this:
1 - Semis always leave a long space between them and the vehicle ahead
2 - Even my crappy car without ABS can break in a shorter distance
So, the space they have ahead provides a steadier speed than vehicles around you because it absorbs the rubber band effect, even when traffic gets more congested. Holding a steady speed and slow breaking of the rig or just working through the gears means that you'll rarely have to use the brake unless traffic comes to a complete halt or the rig engages in an emergency maneuver that involves locking the brakes. Even if the latter happens a smaller vehicle, especially if outfitted with ABS can still avoid a collision if the driver knows what s/he's doing and is paying attention to the road. In fact for this to work the driver must not lose focus and if s/he feels that is happening s/he should break off ASAP and resume normal driving.
Yes, it is dangerous but not absurdly dangerous if you are responsible enough to drive within your limits and the limits imposed by the traffic conditions. You need to use your best judgement to call it off or not even attempt it if there is any doubt about safety. There's a time and place for everything.
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