In what situation should a driver yield to pedestrians?

The correct choice emphasizes that a driver must yield to pedestrians at all stop signs and signals because these are critical points where pedestrians may need to cross the street safely. This ensures that pedestrians have the right of way in these situations, which is essential for their safety and allows for a predictable interaction between motor vehicles and pedestrians. At stop signs and signals, drivers are required to come to a complete stop, creating an opportunity for pedestrians to cross the road safely.

Yielding at stop signs and signals is part of the broader traffic laws designed to protect vulnerable road users. In contrast, yielding solely at crosswalks with signals would neglect the importance of pedestrian safety outside of those specific areas, and limiting the requirement to only when turning left does not account for the many scenarios in which pedestrians are present. Additionally, requiring yielding at all times while driving while well-intentioned doesn't reflect the practical considerations of driving, where there are specific cases, like the ones at stop signs and signals, that necessitate yielding to pedestrians to maintain order and ensure safety on the road.