Yep, bicycles are hard to see in the first place and when you DO see 'em the speed/distance of a bicycle is hard to judge from a car or truck. For this reason, even before they do anything stupid, passing bicycles in a motor vehicle is inherently stressful.
What I prob'ly would done in that instance is got off the bike at the start of the off-ramp. Walked the along the edge of the off-ramp hugging the guard rail on the right (being prepared to jump it off the road if necessary), then when I could, cross the access road perpendicular to the guard rail, get back on at the right edge of the main lanes (looks like there's a narrow but ridable shoulder).
Whole lot easier to die on a bicycle than it is on a motorcycle