So far I have a little over 300 miles on autopilot, mostly 20 miles at a time on my commute to and from work. The first day when I was in the right lane, as I approached exit ramps, it would dive for the exit ramp. I quickly learned to apply torque to the wheel to hold the car on the interstate until I had passed the exit. Each day the system seems to have less tendency to follow the exit ramps as I pass. The last two days it only gave a momentary wiggle and moved over maybe six inches towards the exit ramp then it recoverd and moved on down the road. This morning it gave only a very slight hesitation, so little that I did not have to correct it at all. I find it remarkable that it is improving this rapidly. I wonder if it is getting more information on this section of road or if it is changing how it reacts to any exit ramp? This car and this company continue to impress.