I'd also ask if this isn't somewhat accurate for how people would do things? We have specific rules that we have internalized on what side of a road to drive on. But, absent those rules, it isn't uncommon to just drive down the center of the road. Largely expected on many surface streets that don't have brightly painted lanes and large shoulders.

To that end, you could always encode the rule of what side of a window to aim for? Something you probably want to do if you are going to be aiming for bidirectional agents going through them?