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Are Lane Changes Initiated by the FSD software?

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with the latest release of FSD auto pilot are the lane changes initiated by the software to maintain a set speed or does the driver have to do it with a turn signal?
With Navigate on Autopilot enabled the car will initiate the changes.

If you do not enable NOA the user must initiate with the turn stock.

This all assumes you have the FSD package. None of this is related to a recent software release.