Safest way to get in and out of my driveway

[BOR]

Another idea would be to elect to be the last car through the lights:

Wait until light is green.
Pull over to wrong-side-of-road(no oncoming traffic).
Wait until all other cars go through.
When light turns red, then slip through.

This would mean no cars behind you when you get to your drive, which allows you to reverse in.

I know in reality, 3 more cars would follow you through on red, but you get the idea.