until we get on the motorway [US: freeway].
Why have you used the infinitive of 'salir' in this sentence, rather than 'salimos'?
Freeform Writing Exercise A1
Hasta can be followed by an infinitive if we have the same subject in both the main and the dependent clause, which is this case:
...y después nosotros vamos a girar a la derecha
hasta salir a la autopista.
We could have also used a clause after hasta, with "que", meaning the same:
hasta que salgamos a la autopista.
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