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Or is this function only possible with a departure sensor (which I dont have unlocked yet)
Ad perpetual signal: Should not be used on tracks that are either merging or diverging. Its main use is to divide your longer stretch of tracks into blocks to increase the throughput. Along with some other usecases of course. I often have an extra signal before autoblock if the autoblock is the first the train meets after going from/to a station so I don't have to clear the whole autoblock from a departure sensor f.ex. Then the next train has to wait until the first train clears the autoblock. So i put a signal on the entrance with a perpetual route into the autoblock.
Two examples:
https://i.imgur.com/Vr4wkg4.png
https://i.imgur.com/V2xOqlD.png
“Perpetual Route makes the current route being recreated automatically once possible, indefinitely”
This means, the route set will be allocated again automatically once the track is free. So you are in definition indefinitely allocating/clearing the path for the trains along that route.
Because now instead of fitting one train over a 20 block distance you can fit 10 train queued up, giving you 10x more track capacity.