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How close it's safe to follow all depends on your reaction time and how attentive you are. I'll be one of the first to say drafting as a habit is probably a bad idea.
However, considering the difference in stopping distance between a fully loaded semi and any car with decent brakes, an intensely alert driver with decent reaction times can follow significantly closer than 3 seconds.
To me the question is more about other risks, (like tires coming off) and whether you're willing to stay on edge to keep it safe than it is about stopping distance.
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