I’ve tried autosteer on some major arterial roads - 2 lanes each side separated by a median, 50 mph speed limit - and autosteer gets confused and swerves going through intersections. Not worth the hassle IMHO, but obviously YMMV.
Autosteer definitely works better for me on freeways, but it can still get confused. One time a few months ago, I was driving with AP on the freeway, in the rightmost lane, approaching an entrance ramp merge; when the right side solid line went away for the end of the merge lane, autosteer swerved right - apparently thinking the lane suddenly got wider so it should move to the center of the lane. Ugh.
I’ve had a couple of episodes of phantom braking, but always at the same location, so there’s something about that place that trips it. I confess I’m one of those who would like the ability to disable the “TA” part of TACC and manage following distance myself.
The end result for me is I seldom use either autosteer or TACC because the extra vigilance they require is more stressful than just driving fully manually. This is partly due to the current situation though; I’m driving a helluva lot less than I did a year ago. If I were driving more, the foibles of AP might be easier to deal with. Again, IMHO and YMMV.
This happened to me as well when exiting, my MY was freaking out and I overrode it quickly. I noticed the right most lane on the freeway is not a good place for autopilot to be on. Middle lane tends to be the best on our freeways in Reno.
I used to have issues with our jeep which had adaptive cruise control freaking out and braking on overpass signs on our freeway; but, that has not been an issue with the model Y