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In the video shown above we do not know if and what situation the officer was being called on to respond to.
Agreed....the information available is limited.
I am glad to see the officer in the video giving the incompetent driver a nice little warning without a written citation.
On the video, it didn't look like there was much room on the shoulder. It is sometimes dangerous for Troopers to pull people over if there isn't a safe buffer-zone. Perhaps the Trooper felt that the potential risk was not worth it for a citation on a minor offense like this.