I have the same problem with Autopilot trying to get over to the slower right lanes too early, miles before my exit, and I’m on 2019.28.3.1.
Also, AP demanded I take control right after I ran a red light, like it was programmed to get the driver’s attention in case they’re not mentally engaged. This is interesting because I understood red light detection isn’t officially a feature until v10 comes out. But I haven’t ruled out other disengagement triggers. It dislikes roundabouts and poorly marked intersections. Has anybody else observed apparent red light awareness in simple well marked intersections? Sorry but I’m not willing to run more red lights to test the idea.