This is somewhat already answered here (Is it a flight violation to mishear ATC instructions for exiting the runway?), but this question is more geared toward taking action before hearing from Tower.
I fly out of a towered airport somewhat often. 99% of the time when they provide me with a runway exit (Taxiway B in this case), it's the same one.
Sometimes however, they do not provide me an exit instruction quickly enough despite the fact that I'm rolling up to where I should be exiting for Taxiway B. They might either be busy with other aircraft or simply don't call out an exit instruction. Sometimes I've just rolled past Taxiway B and other times I start heading my aircraft in that direction just to finally hear Tower give me instructions to exit via Bravo.
So, the question is, if I know I'm almost always going to be assigned a given taxiway, should I take it or should I always be waiting for Tower to assign one and thus just keep idling down the runway until I get an assignment from them?
This becomes even more important when flying into unfamiliar airports. Do you just keep rolling or do you take a taxiway when you know you can?
I will like to clarify, 100% of the time, I have received a taxiway instruction AFTER I've started to point the nose of my aircraft at a taxiway. I have never actually exited the runway without finally receiving the instruction.