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The atlas probably doesn't list everything, as Dave said, but it lists nearly any road we ever travel, including most two-lane highways. But there is always the possibility the atlas is not up to date or does not include a particular road.
As for what we do in a situation where we find a low clearance situation unexpectedly... The only one I recall had big warnings well in advance along with "use highway xx." I always watch for problem areas but have really not found it to be much of a problem. And it's been rare that I've hear of anyone having a problem with a bridge clearance so it must not happen too often.
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