As I was driving on a road that had the right of way, I was almost hit by a car that came out of nowhere
文章は直訳できます。
最初の部分は "As I was driving on a road that had the right of way" を書いています。これは日本語にしたら「優先道路を走行中」になります。そして、 "I was almost hit by a car that came out of nowhere"は「飛び出してきた車とぶつかりそうになった」と翻訳できます。