To repeatedly poke one's head out and peer about, often in a stealthy or suspicious manner

to stick one's head out and look around stealthily; to poke one's head out and peer about

To crane and retract one's neck while looking around in all directions; specifically to peep or peer at something or look around in a secretive or hesitant manner

(slang) the sudden appearance of a pedestrian or vehicle from a blind spot into oncoming traffic, causing a dangerous situation