I quite like lane assist in the 2019 Honda I drive, even though it gets it wrong occasionally. It will not function unless it detects that you're providing some steering input of your own, and it's easy to override just by steering the way you want to go. That and cruise control are handy on the highway and have worked well for 6 years with no problems. But it's very far from either functioning or being advertised as "full self driving."
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