We go round-a-bout on this issue every year.
I still say, you cannot be in the left lane and get to either of the entrances without crossing over the right lane. I think the statement means not to change lanes while driving inside of the roundabout. Once you're in whatever lane you entered in, stay there till you exit. Obviously, you have to cross over the outside lane from the inside lane in order to exit the roundabout. Both visitor's and residents' gates are on the right.
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It's harder to hate close up.
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