Your first example imposes a limit on the possible times 'it' left; it could have left twenty-six minutes ago, twenty-nine minutes ago, but it couldn't have left any later. Your second example allows a broader range of possible times 'it' left; it could have left twenty-six minutes ago, thirty minutes ago, or thirty-four minutes ago. To cheat is very similar to deceive, but cheat is used more often to describe winning a competition unfairly or passing a test unfairly.
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