I tried using this feature on numerous types of roads and highways for a couple of months, but gave up and now I never use it. This car has such effortless steering as it is, that for me anyway, it took more effort to keep from getting kicked off than it took to JUST DRIVE THE CAR! The 2 options seem to be, wait for it to tell you to apply slight force (chinese water torture and a continuous distraction) or, continuously hold the wheel and keep applying slight pressure opposite to what the wheel is doing (but not too much or it kicks you off). Also, I had the occasional weird thing that would confuse it when I didn't see a reason why. All in all, for me it's just not worth the effort. I hope that as the FSD comes closer to perfection that one of the by products will be an improvement of this feature (AND THAT PHANTOM BREAKING IS FIXED!)