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To enter a roadway from a private road,

A you must stop and yield to the vehicles on the roadway.

When leaving an alley, a driveway, or a parking lot to enter a roadway, stop before driving onto a sidewalk or onto the sidewalk area and proceed slowly. Yield the right-of-way to pedestrians and approaching vehicles. Vehicles entering from a private road or driveway must yield to vehicles on a public street or roadway.