When you drive the same commute every day, as I do, I found it just a matter of trying to approach at the same initial speed then lifting off a bit earlier each day until you get it right. No point in approaching at 50 mph today and 60 mph tomorrow, and hoping that lifting off at the same spot will get you to the hazard at the same speed. I don't mind if I find I slow down a bit too much. Just means I have to get on the gas a bit earlier, to clear the hazard. Better that than having to brake.
Don't be afraid to use a low gear to slow you down. This brings in DFCO, which is even better than coasting for fuel efficiency.
I don't mind braking as long as I am below 20 mph. 20 km/h is a bit low for me. But if traffic allows, the slower the better.
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