I tested AP2 Autosteer on the freeways of L.A. this weekend, as well as on I-5 up to the Bay Area. My biggest complaint is that the logic behind the steering is very poor, and almost as if written by someone who doesn't understand driving. I can see from the display that the computer has a firm understanding of the lane boundaries, including in curves -- however, the path that the car chooses to take within those boundaries doesn't make sense. When AS sees a curve coming, it should plan a "normal" path through the curve, turning in for the upcoming curve before the actual curvature begins, error on drifting inside the corner (apex), and then return to center upon the exit of the corner. I can tell that AS can see the curve, but it chooses to not make any adjustment to the steering until the car begins drifting towards the outside lane line in the corner. So for example, on a left hand gentle corner, AS will drift the car nearly to the lane boundary on the right (I scared a few drivers next to me, and had to grab the wheel). I hope Tesla gets some professional drivers to advise their algorithms. Like I said, it can clearly see the lanes, it is simply choosing to take an awkward path through the corners. With regards to sharper corners, forget it -- failed every time. However, on I-5 to the Bay Area, once I got out of the L.A. congestion, was fabulous with autosteer at 80mph. The car has going straight down pat!!