A painted driveway may become only about as slippery as your garage or kitchen floor. But since driveways are exposed to the weather, the surface won't stay smooth but get even rougher as time goes by. Slipping is not an issue. Though, I still highly recommended adding Quickrete medium or fine sand into the epoxy. The sand will slowly settle at the bottom of the bucket/paint pan, so be sure to dip down and agitate the sand after every other dip.
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