I suspect that the 2.5 platform with all the ongoing changes and feature adds is simply nearing processing capacity or the system bus is overloaded. I have no real evidence to back up that assertion other than ongoing feature adds (relative speed merge, one pedal driving, more robust visualization of surrounding traffic including aspect, etc.) are the only changes I'm aware of that could be impacting my autopilot experience. I have tried a couple of things that MAY help (turned down acceleration to chill, reduced lane change aggressiveness, and turned off other services I thought might be processor intensive. It feels like things improve slightly but still degrade over time, and I have to do a hard reset to see that slight improvement in behavior again. That said, it could just be placebo effect. The problem is intermittent, frankly, but when it's there, it's THERE for real...understeer followed by oversteer through curves, late and more aggressive braking, and drifting in the lane. The fact that it varies from car to car would suggest it is very processor load / data bus load dependent. In the same way that everyone doesn't have to reboot their PC due to sluggish performance every day, not everyone is noticing laggy behavior in their MCU every day. My $.02 worth.