I found these two videos on twitter showing AP driving on a back road and residential area with no lane lines. This is on AP3. It might be Early Access too. But it would make sense that Tesla has been working on lane keeping with no lane lines as part of "automatic city driving". In any case, the videos look promising for city driving.
Back road: Third Row Podcast on Twitter
Residential area: Third Row Podcast on Twitter
Back road: Third Row Podcast on Twitter
Residential area: Third Row Podcast on Twitter