They do it all the time when I'm driving a fire engine, don't see how they miss something that big with the wide LED bar on top bright as hell and air horn. I always stay well back because you can bet your butt that when they do see you they slam on brakes, fire engines don't stop on a dime.
Fortunately we don't have to drive in town, mostly highway response......have only had a couple of issues over the years.
It also seems that I may be the only single person in the state that knows what an acceleration and deceleration lane is and how they are SUPPOSED to be used. At least judging by my observation of fellow drivers entering and exiting the interstates.
There's two of us then......lol. Stressed this issue heavily when I used to teach drivers ed.