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On my commute, at the lights that are likely to cause me to stop, I count to see how long it takes for the light to cycle. I use this to help judge where I need to let off the gas/how fast I should be going to not have to stop. You should always be trying to maintain as much momentum as you safely/legally can.
Don't be surprised if some people are annoyed by the fact that you are coasting up to a red rather than trying to get there first.
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