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  1. It drives me crazy whenever you tell me about that
  2. It will be okay if he comes to me.

"it" seems like indicating "whenever you tell me about that" and "If he comes to me" in each sentence.

Is my thinking correct?

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In those sentences, "it" does not refer to anything. It is the rule in the English language that all sentences must have a subject, and since there is no actual subject in your examples, "it" is the choice.

It is the same situation as in:

It rains.

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