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Perhaps it’s just me, but I find autosteer rather clunky. I don’t have FSD.

engaged with a double tap, it will steer and alter cruise speed up or down according to the speed limit where it changes at a GPS location.

Setting cruise alone with a single tap sets the speed limit in your present location and doesn’t alter it up or down.

where I struggle is making lane changes with autosteer set. Indicating disengages autosteer but leaves cruise on, that’s fine.
But what seems to happen is that when re-engaged, autosteer doesn’t take control of speed limits again. Speed stays put as it would on cruise alone.
It seems that only cancelling cruise and double tapping autosteer is the only way back.

have I missed something?

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