The driving characteristics have improved a lot under autopilot. One example is exiting an interstate. When I picked up the car in June of last year it would go full speed into the exit, ignore the exit speed limit sign, and decelerate hard just before flying off the road when it hit the exit loop. It would make the turn and decelerate, but its last second behavior made me very nervous, and a passenger scream.
Not sure which update fixed it, but now it starts to slow down when first entering the exit lane, is appropriate speed when making the exit loop, and stays more in the center of the lane instead of going to the far edge on each curve. I'd like to see it clip the apex of each curve but it's doing the opposite. Police say in a car chase you clip the inside of the curve if you want to take it at the fastest speed, but if you want maximum visibility when you exit the curve you want to clip the outside of it.