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Workaround it to stick useless junctions that go nowhere to break up the pipe into smaller sections if you need to mix your pipes. I do it for mixing Organic and Fert II occasionally.
However, yes, in general, a pipe should carry one thing presently if you want it to work consistently. It is electricity free, thus has its own limitations.
Theres probably some workaround using a pipe balancer (since strict equal input or output should mean it attempts to send a bit of each and will not send more until it's cleared) however you still need a multiple segments of pipe long enough for it to switch out.
Then again, it's even quite realistic. Using your example of clean and waste water in the same pipe... In reality you'd get diluted waste water out the end of that one.