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Ok, as long as you have enough distance for reaction time, you shouldn't have any trouble out-braking a semi. Seriously, what has a longer stopping distance besides a train? Next, since you're behind the semi, it doesn't matter if he changes lanes because you aren't there for him to hit. Or, to say it differently, if a semi driver *tried* to hit you, you'd have to be paying no attention for it to work.
Note that this works for things besides semi's also; my friend and I tag-teamed a trip back from Albequerque, NM to Tucson, AZ with a Fiero/MR2 combo and got 10-15% better gas mileage. You have to switch out every 30 minutes or so to even out the savings so both tanks deplete about equally, but this is a good thing since it makes the trip less tiresome since you alternate between pacing and navigating.
However, something to note: air resistance plays a big role in stopping from high speeds. If you are drafting and try to stop at 80 mph, it will be harder than stopping from 80 mph in open air because you are lacking the aid of air resistance. Not enough that a semi will out-brake you, but enough to catch you off-guard. Normally, I slow down by letting off the accelerator and very rarely need my brakes on the highway. Drafting the Fiero though, I also had to move to one side or the other to catch some wind, or he would engine brake much faster than me, requiring the use of my brakes.
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