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I guess my experience is different. I have traveled many thousands of miles with the car driving itself and it has never strayed outside the lane markings.
Same. I'm at maybe 40k on FSD...I don't think the car has ever drifted from the lane on me...it's done some other crazy *sugar*, but not that. Even on crazy mountain roads, it's reliable...it may turn into a car or try to turn into a curb, but it'll stay in the lanes.
 
Just got a 2023 Prius Prime. Their lane assist was great as originally stated. The nudge feature was really useful and sorta superior to Tesla’s version. And when changing lanes, it automatically re-engaged its autopilot. So convenient and free - no need to spend several thousand dollars on the Enhanced Autopilot. I really like Tesla’s Autopilot but using Toyota’s autopilot was enlightening - there are good engineers and software developers everywhere.