If you’re predictable and not being a moron ppl will let you merge. Its only those assholes who try to merge at the last minute that ppl don’t let it.
In most cases, merging as late as possible would be most efficient, because it utilises the max amount of street surface.
This would be great if waiting to the last second didn’t result in cutting people off, forcing them to slow down as you essentially “cut in line”.