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The man was issued a $50 fine for the offense.
Police said that the incident was a reminder to all road users to behave responsibly.
"The incident highlights the profound impact on the road network that one person, and the interest generated by this matter shows that the public share that view," said Acting Assistant Commissioner Stuart Smith of the Central Metropolitan Region Highway Patrol. "Regardless of how the person came to be in the tunnel, their safety was at risk and there was potential for him to be hit or to cause a crash."