It's difficult without knowing the full circumstances, but it would appear that (a) the Tanker driver was going a little fast for the circumstances, and (b) the Woman driver had only to negotiate 3 metres of road to enable the tanker to pass behind, and so may have been a little slow?
Off course the tanker driver may have swerved to the right in an attempt to drive around her thinking she would abort the pull out, but all too often I have to watch drivers exit a right turn across a busy road, with GOOD visability, and watch them make a complete hash of it.
Staveley road end, exits onto the A591 - NSL applies. Some drivers wait for a long time, ignoring gaps which I would confidently drive through, THEN, when a slim opportunity presents it's self, lunge through two lanes of traffic.
Although the pull out is questionable, so too is the reaction of passing drivers, who make no attempt to slow, but instead maintain speed and position, threatening the rear of the exiting vehicle.
From what I remember of my driving lessons and test, exits from junctions were taught from a relativley calm environment of an urban setting - presumably so as not to jeopardise the safety of learner and instructor, so without further training, it is up to individuals to hone their skills, which many seem unable to do.
It's worth remembering too, that milk tankers have a schedule to keep to due to the perishable nature of the product. Maybe THIS should be considered too, in the light of the comment regarding his "barreling through" on a regular basis?