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Assisted lane change when in AP but not NOAP

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Is it known when and/or where Autopilot will carry out lane changes when it's not in Navigate On Autopilot mode; i.e. there are a pair of blue lane lines in the visualization rather than one solid blue line?

Lane changes, both those it suggests and those you ask for, are pretty predictably available when in NOAP. But I can't figure out when they're going to be available in ordinary AP. I thought for a while it was when you were on a restricted access highway where NOAP didn't happen to be available, but there are too many exceptions for me to be sure.

It's a bit irritating when you do a full press of the indicator stalk hoping to get a lange change but it won't do it. You've indicated but you're not changing lane. So you have cancel the indication, which is confusing for other dirvers; or you have to cancel out of autopilot and finish the lane change yourself.
 
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