I have TACC on an Audi and a VW, plus Lane Keep on the Audi. I find the cruise control on both to be better than on the Tesla, probably because of the additional LIDAR. It’s smoother and has way lower tendency to slam into stationary things, although it’s not to be trusted 100%. Between the two, the VW feels best, probably because it’s less powerful and is therefore programmed to accelerate and slow down more gingerly.
Lane Keep is overall not as good as in the Tesla. It has trouble with tight turns but it does better in certain freeway scenarios, in particular it seems to be able to stay in the lane when exiting left or when continuing straight and passing a left exit lane. A good example would be the exit from westbound Interatate 635 to southbound George Bush Turnpike in Dallas. The Tesla was confused by the apparent widening lane and went straight for the concrete wall every time (the exit is an underpass). The Audi behaves largely the same as the Tesla when passing a regular right exit.
The AutoPilot disengagement warning in the Tesla is implemented way better, a simple bong and a change of the icon. The Audi shows some stupid message in the dashboard, far less elegant, i.m.o.
The Audi has capacitive sensors in the steering wheel, so there’s no need to jerk the wheel for the car to feel you still have your hands on it. To me, that’s a huge improvement.