it's edging into the intersection to get a better view on the camera. it's further than you would normally pull out, but it will NOT pull into traffic.

It's not edging; it enters the street going a consistent speed (usually >10mph) from my driveway. The area is heavily wooded, and I don't think it "sees" the cross direction until it's already in the road. Or perhaps the lack of signage or curb make it think it has the right of way.

My neighbor joked that I should install a stop sign at the end of my driveway to make it safer.

The software probably has a better idea of their car’s dimensions than a human driver, so will be able to get a better view of traffic by pulling out at just the right distance.