Driving around someone with a headlight out can be annoying, especially when people use their high beams to 'make up' for the light thats out. Also, some people actually can't tell when their headlight is out, so when cops are bored they pull people over with burnt out lights and expired inspections. The cop did the right thing in letting you off. The only time they give tickets for stuff like that is when you piss them off (or if theyve been previously pissed off) and theyre trying to bang you for everything they can.
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