The fundamental problem seems to be that some drivers believe they have the right of precedence.
I'm not sure how they assess their journey as being more valuable than the cyclist's or a pedestrian's, but it does seem to be the problem.
Fortunately for drivers, you can claim precedence if you have the right equipment on your car. If you don't have it, then you are just the same as any other road user such as cyclists. pedestrians, kids on tricycles, tractors, etc.
All you have to do is get a job that allows you to have blue flashing lights on your vehicle.
Otherwise, settle down, behave like a decent human and wait your turn.
