I have a couple days on 2019.20.2.1, after updating from 2016.16.2. I have noticed a couple of times if I'm on AP, overtaking a vehicle that is very close to the lane marking (or even over the line!), my car (S85D) will shift slightly within its lane to make more clearance. It happens before getting to the slower vehicle, just before the point where I would take over manual control to either scoot over or slow down. Never noticed it doing that before, although reading a few posts claiming improved AP1 behavior might have influenced my recollections in some way. No changes noticed in charging behavior, range, or performance. Bruce.