Notes
  1. S and F (or S' and F') are Start-Finish points to consider.
  2. When leaving S' or going to F', look at the dotted green arrow for the respective intersection instead of the solid green one.
  3. WRT the blue arrows: our code will look for the *REAL* waypoint on the *ACTUAL* track the vehicle takes which is *CLOSEST* to the imaginary point. Therefore, by placing the waypoint at the blue arrow, we're actually starting/finishing the leg at the closest point to it on the actual track (as indicated by the tiny blue ticks).


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