It has a great liking for turning into the "turn only" lanes on the way home as well.This was my issue with the previous version of FSD and the main reason that I ended up turning it off most of the time. NoAP does a pretty good job of picking the correct lane on freeways and also has an option to require manual confirmation before changing lanes, so I'm surprised FSD is having so much trouble on local roads. It doesn't seem like a difficult problem and is very similar on local roads vs freeways.
Besides left turns on blinking yellow, and properly navigating roads, everything else is pretty impressive not going to lie.
But unmarked roads still trip it up, specially the awesome ones by me with patches every 10-15 ft. (thanks Frisco ) WOW it gets wild on that road.
And the the road that they cut right down the middle for 2 slabs gives it issue as well. It can't determine that it's one lane. Took the original AP a year or so before it perfected it. Can take it at 40 with no issue, but beta struggles to even navigate it at 20 or so.