I've noticed in the past that AP 2 can have some very bad behavior under the following circumstances: Driving in the right lane Rising/descending pavement Following a freeway turn Passing an exit Essentially, the vehicle gets confused and dives for the exit. The vehicle can also lose lane control when an exit isn't involved. I don't typically see this kind of behavior when the road stays flat. The ascending/descending motion seems to be a key part of this mis-behavior. I drove a short time on a freeway south of Seattle near Tukwila, WA and recorded some video of the bad behavior. I was heading north on SR-599 from I-5 North in the right lane. In the first clip (0:11), I actually let the vehicle recover from its dive for the exit. Some beeping was heard as the vehicle steered back onto the highway. In the second clip, there are two instances of bad behavior. The first is at 0:21, where the vehicle loses lane control as the highway climbs and turns to the right. During the second, at 1:26, I seized steering control before the vehicle hit the guardrail between the exit and the highway. I'd advise everyone to be very careful when using AP 2 when the road rises or descends and turns. I hope Tesla makes this problem a high priority for fixing soon.