Not Illegal
Filtering is quite widely done in the UK but I suspect it is rather more a case of not being illegal rather than approved of by any legislation.
Filtering is done by police and the IAM (you can fail a (voluntary) advanced test for not filtering where appropriate) and, I believe it is possible (primarily in london) to fail a DSA L test (the one you need to pass to get a bike licence) by not filtering where it is the appropriate thing to do.
That said the onus is very much on the filtering motorcyclist to get it right and if it goes pear shaped then the biker will probably get it in all senses.
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