Having side cameras toward the front of the car can provide more visibility, but the root issue in that vid is that the car didn't creep forward enough to gain visibility; it just went. It's like it's not trying to use B-camera data at all. I've had plenty of RIGHT turns where the road I'm on is already bending right at a T intersection, so my driver-side b-pillar camera has straight-on visibility to the left. The car still hesitates like crazy. This seems to indicate it's just relying on front camera visibility, which in this situation would have a really hard time seeing to the left.
In our area, there are tons of places where the stop sign and line are way too far back to see anything, regardless of whether the cameras are at the B pillar or on the front bumper. You have to creep way past the stop sign.
Also, leaning head forward makes us feel like we have more visibility. But next time you're in a position to do that, just pay attention into how much more visibility you're getting. (It's not a lot).