Just got the newest firmware update yesterday (the one where you can click autopilot 4 times to get the rainbow psychedelic road Elon tweeted about). One thing I have noticed is that the car in autopilot behaves a lot better, similar to the original autopilot update, driving closer to the center of the road rather than "hugging" the right side. I was not a big fan of that update that changed the driving pattern of autopilot as it seemed like it was way too close to cars on the right. Also when I signaled to change lanes, when it made the lane change, it felt like it was actually going to overshoot and go into the next lane beyond (and rarely felt comfortable if there was a vehicle two lanes to the right of me when I made that change (often had to grip steering wheel and sort of correct it). So far so good with this latest update as it seems to make lane changes appropriately and shoot for the center of the lane with so far no incidences of overshooting. Hope they continue to keep it like this.