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The drones fired missiles at the vehicle in Datta Khel area near Miranshah, the headquarters of North Waziristan Agency, killing four militants.
The other persons were killed, when drones returned to strike at people who had gathered around the vehicle to retrieve the bodies from the debris and help the injured.
Datta Khel has witnessed numerous attacks by US drones over the past two years.
The US administration has been pushing Pakistan to launch a military action against Al Qaeda and Taliban elements in North Waziristan Agency.