Do you or have you ever driven a stick shift? I feel it's kinda the same thing... simultaneous rhythm.

What works best for me is to definetly try to predict the intersection. If absolutely no cars are near I slide through in a middle gear, ready to accelerate if needed or stop in a hurry. If I must stop or am not sure I also unclip my left foot (I'm a righty) while setting my gears for the acceleration to come.

I live in a somewhat rural area so it is not necessary to stop everytime. Besides I have penty of hills to work on my acceleration strength.

If you want to be like Lance and balance yourself while at a standstill... remember he has been riding for many, many years.