I'll say it... Driver+ getting worse, not better

[RexRemus]

There's only ACC which does not actively steer ... love the DUI analogy.

And then highway assist on mapped roads.

That's it.

That's my experience.i truly wish it just had basic lane keeping anywhere

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[skim0000]

You have a capacitive sensor issue on the steering wheel. My Highway Assist progressively got worse over the span of many months, and the "Put Hands On Wheel" message increasingly came up as sensitivity worsened. I sent car in for service and they ended up replacing the wheel. Works perfectly again. One of my favorite features of the car - so glad to have it back!