I have a Model S and X, both are running 2019.20.4.2 but the Model S has a serious safety concern when autopilot is engaged on the highway. This started happening about two months ago and I have had several software updates since it started and nothing has fixed the issue. When going around 80 on the highway with autopilot engaged, the car will start swaying side to side slowly at first and then it speeds up and sways harder to the point that the car will start going over the left and right lane lines. Holding the steering wheel, autopilot will disengage itself because it’s trying to turn instead of going straight. Attached is a short video showing what happens. I was holding the steering wheel tightly because there were cars around me so I was trying to keep it going straight. You can see at the end of the video that it was about to go off the road and autopilot disengages because of my grip. The service center says they sent a note to engineering and that they will release a fix once it is completed. Feel like they don’t know how to fix the issue and are crossing their fingers that a future software update will resolve the issue.