I have. They do not have the right of way. Vehicle operators merely have a high duty of care which can supersede right of way.
Also, the case you reference was a case of a pedestrian crossing at a designated pedestrian crossing, so I don't understand how that's relevant to your point – if anything it supports mine.
Yes they do - look at the case law in practice. For example Brushett v Hazeldean (that was cyclists but it's being interpreted as cars as well.)