"only overtake on the left if one of the following applies..." prohibits overtaking on the left when these things don't apply, doesn't it?
From my understanding, I would only overtake on the left, or 'undertake' in very slow moving traffic. If there is space to move to the right to overtake, I would always do that instead.
In the clip, I was ready to say it's your own fault for undertaking (though, the driver should have checked his blind spot regardless), then I noticed the brake lights. You maintained a constant speed, he braked and thus moved his vehicle beside yours, then he moved into your lane without checking his blind spot. Totally 100% his fault. Of course, it's possible that you were going to undertake him anyway... ?
So hard to tell with filtering videos whether it's good or not, because it's difficult to get a proper sense of speed or distance from a video. The filtering looks too fast on video, but you say it wasn't so it's probably just a trick of the camera. But yeah, I'd have filtered in that situation too... traffic doesn't have to be stationary to make it OK to filter, just very slow moving.