I regularly yield the right of way to others when I legally/technically could have it if I want it, whether I'm cycling or driving my car. Doesn't everyone?
I don't think anybody does it every time there is an opportunity, and some do it more often than others, but I think most everyone does it once in a while.
I know I'm less likely to do it if I'm in a hurry for some reason than if I'm not. I expect this applies to others as well.