I was just going to post that!! Sure the lambo might be going a nudge over 30 but can't be by much! Certainly wasn't driving dangerously. Looks on the video like the spaz in the Toyota. The amount of flack this guy in the lambo has had from busy bodies on the net.
Best mate of my mate (yes sounds like cousins aunties uncles brother) owns an aventador in London. Checked last night that this want his, thankfully it isn't but they're all in the same supercar clan - as you do.
Id say without a doubt the lambo was speeding .. always has been in other videos. Revving the tits off it at stand still. And the mazda had poor visibility around the corner due to the parked cars and bus on his side.