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Terry W is spot on, decide on when to indicate depending on traffic situation and road layout.
I know its different in a truck but easier to explain like this, dual carriageway so deceleration lane and slip road might be combined and of varous lengths and angles (uphill or downhill), if i'm in my truck i'm probably not going to be leaving the dual cariageway at my limited 55mph i'm going to be knocking off speed before reaching the turn for obvious reasons so start indicating early...if there's a well driven truck following (ie not tailgating) i will probably have given him 3 left hand flashes at the 1/2mile marker to pre warn him if there's no turn off before the one intended...you can upscale this scenario to allow for vehicles better equipped to handle braking and turn offs.
If there's nothing to worry about and no one to benefit behind or i can leave the main road at speed then a later indicate is likely.
As for joining busy roads from a slip road, nothing is more annoying than someone who isn't carrying enough speed to merge and/or who gets on (often by the courtesy of others) then minces off at a snail pace causing a rolling roadblock wave behind, get a move on people especially if you've been shown a courtesy which you hopefully acknowledged unlike so many ill mannered people these days.
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