My opinion- making major course alterations at speed often changes your status from a participant to a spectator.
Minor course corrections at speed will allow you to prolong your active role as a continued participant in the event.
So, YES, you can steer & maintain control - but you shouldn't swerve.
If I see that I'm going to hit something crossing in front of me, I'll 'try' to just miss the trailing edge (this will give them more time to clear my path & if not, it will transfer less energy as a sudden stop & more as a spin).
If I'm in the bus, I'm going to try to drift to the right to minimize the compaction of the driver's seat.
All that is assuming leaving a safe following distance & not over driving my line of sight didn't work as well as planned.
Hmmm, maybe, we should be pushing our toad instead of pulling it . . . .