I want to re-join the road. What is the correct assessment of this situation?

You answered correctly. When joining the road from a parking space or the shoulder, your view of the street is blocked by parked vehicles, so you can only see oncoming traffic late, and drivers on the road can only notice you late as well. This is why it’s important to edge out carefully and never assume others will give you priority. In this situation, you do **not** have priority; you must yield to vehicles on the road. Remember to always double-check and proceed slowly when re-joining the traffic.