Ey guys, i had opened another thread with the same behavior. I am On v10 2019.32.11.1 and the car does zig zag like you have said. It happened to me with and without cars in the adjacent lanes, and with and without semi or trucks, but it is true that sometimes it did it well. Normally when i bad weather it does even driving alone in the highway. I have heard from another tesla owner having the same issue, and he said that when you are in highway of just 2 lanes, it didn’t happen. I have a M3 for 2 weeks with FSD and i think HW2.5. So this is happening because the update. When i was in V9 this was not happening, neither in v10 2019.32.11, or Maybe i did not notice it, since i had that version for a couple of days. I don’t think that the autopilot has to adjust itself, since for me it happened in different situations. It started doing it, then it didn’t, then do it again and over and over. I hope we will soon an explanation for this or a new update. Does somebody here noticed that with the early access v10? Btw, i am locate in The Netherlands