Best practice: Before reaching an intersection always slow down ahead of time. Increase that time when hauling or driving an RV because they take longer to stop. That's why intersections are indicated on road signage before you reach the intersection. All driving instruction manuals tell you to slow down when approaching an intersection.
Something to think about: I have no interest in beating a yellow nor red light. I come to a full stop at stop signs. Over the years I have seen too many people get slammed, even killed because they did not follow good driving practice at intersections.