The lane changes in this version are vastly improved.
Living in NYC, most highways are very busy, with close following distances and aggressive drivers that fill in any gaps quickly.
Previous versions were far too hesitant to change lanes, to the point that I would generally take control 50% of the time or more.
I had multiple lane changes today where my wife was also shocked at how assertive & smooth it was.. she was surprised it was the car.
On the other hand, the car seems to be automatically re-adjusting for speed limits and cutting cruise speed erroneously a lot now.
I had this happen maybe twice, ever in the last year. Today it happened 2-3 times in 20 miles. Thought I was going to get rear ended and started getting passed on the left as I raced to re-adjust speed. My wife thought it was the return of phantom braking, but I could see the speed had set itself down (I had it doing 55 in a 45, then it auto-adjusted itself to 30 suddenly). In some ways this is worse than phantom braking as it then stays at the lower, sometimes unsafe speed.
Feel like it should audibly warn you before adjusting speed 25mph downwards!!