Eye contact helps us figure out who will go first and who will go next.
Once you have eye contact with car driver, the two of you can decide what to do…but making contact with one person might not be enough. Keep making eye contact and communicating with the other people and you will figure out who goes next.
You can wave the driver through an intersection (tell them to go before you)
In short, you can decide to let car drivers or pedestrians go first anytime you aren’t ready to go.