The single biggest limitation I see today is that AP doesn't seem to look further ahead than the car in front of you. This causes rougher driving than I would do in some cases. It might not be possible to fully track 2 cars ahead but most of the time I think it would be with both the camera and radar. At the very least AP should be aware that there is a car right in front of the car in front of you even if it can't fully track it. If the car 2 cars ahead starts slowing down then so should AP, or at least get ready to. More importantly, if the car in front leaves the lane and AP knows there is a car in front of that one, it should get a lock on that car before accelerating hard.