This week's Good Facility is an example of simple side road priority for a cycleway, in Rotterdam - standard Dutch design for this kind of situation.
The cycleway is clear and distinct, and continuous through the junction, without any interruption - as is the footway (with the exception of bollards to keep the junction clear). Both the footway and the cycleway continue at a raised level through the junction, meaning motorists have to drive up and over it, via a relatively sharp ramp adjacent to the carriageway.
Turning conflicts are also limited by ensuring side roads are only being used for access purposes, rather than as routes to other destinations. This particular side road is one-way for motor traffic, meaning there will be no conflict with motor vehicles exiting this side road.
It's good design that ensures junctions like this are safe, rather than rules, or good behaviour.
Finally, it's worth noting how the parking bays here are outside the cycleway, and are combined with (mature) trees, which are planted in the line of the parking, providing shelter for the cycleway, and also softening the street.