ItsJoe:
It’s hard to say without seeing where the incident took place - but if I’m imagining it correctly I would have put a signal on as I was halfway into the junction and positioned myself inbetween the gap of the parked car and traffic on the right. That way you would be making it somewhat obvious as to what it is you’re trying to do.
From what the OP stated that would have meant leaving the rear of the lorry blocking the junction
It is a no win situation caused by a parked vehicle