I’ve had something really similar. They were coming from my right side, turning left (so back the way I was coming from) and I was already in the intersection waiting for the path to clear. A few cars going straight just went through but then the ambulance waited for a period that was long enough I wondered if they were waiting for me to clear out of their path. It wasn’t a near collision but I got the honk siren when I actually did get in their path.

Or another time I got confused pulling up to a red light because the car ahead of me ran the red as it changed but I didn’t see the change, just the red that he ran. No one else was going and I thought “oh shit, the light isn’t working and they are waiting for me to go” and turned left right as the intersection started going.

Thinking about it outside the moment, I know that people would be honking or waving if they were waiting on me. Also that even if someone is waiting on me, it doesn’t mean it’s time to panic accelerate. It’s not the end of the world if you annoy someone. Which is how both of those ended up turning out, I just annoyed some people, no accidents, tickets, or road rage, hopefully I’ve learned from those (haven’t been in that situation since, so who knows at this point), but there’s no point in dwelling on them.