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Drivers faced delays on the A21 which was blocked in both directions after fears for a person's welfare.
Police were on the scene of the main road between Tonbridge and Sevenoaks this morning.
Traffic was halted between the A26 and the junction with the A225 during the incident.
Officers were called just after 6.20am and were joined by paramedics.
A person was then passed into the care of health professionals.
The A21 was reopened at 10.30am.
National Highways said normal traffic conditions are expected to resume between around 11.45am.
It is understood traffic was being directed off the road at the Morley’s Roundabout exit, near Hildenborough, and the Pembury Road exit.