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I think some manual kerning would help tremendously. Since "School Bus" is made up of many wider letters and "Walking" has a series of skinnier letters, it makes the spacing of the letters in "Walking" look even tighter by comparison. Increasing the kerning in "Walking" would make it look a lot better and a lot more legible, and it would land the "g" ...

To solve the offending 'g', have you tried just cheating the leading on the middle line a bit more than the one below. Thanks to the extra ascenders on that line, I don't think anyone will notice the discrepancy. Have you considered using color to help people read the words the way you intend? Like emphasizing 'Walking' in blue or something along those ...

I really think you're fighting your own font choice here. I would recommend looking into fonts that are specifically meant for signage, such as Clearview, the FHWA Series or Roadgeek 2005. Even something like Helvetica Neue Condensed Bold would work well (especially in all caps). That alone might solve your problem. However, you might also want to consider ...