In my humble opinion, the steering system is not safe at speeds of 65 mph or more on SoCal freeways. I spent most of the day testing things in non rush hour traffic and the car was unable to dependably follow gentle curves in the road is speed increases. It tends to drift to the outside around a bend in the freeway and then make an abrupt correction which shuts the system down. As mentioned, it try's to take all off ramps or any added lane. It also tends to follow the car in front that car changes lanes while going around a curve thus making the Tesla think it is going straight. It is totally confused by interchange conditions. I was unable to coax it in the correct direction without shutting the system down but I'll try that again tomorrow. It hates HOV lanes as they tend to be narrow and often irregular on the left side. The car was riding the wall and with the slow steering reaction I was concerned it would scrape. As close as it got to the left side wall, even a mild pavement rough spot could cause the car to lurch into the wall.
i do think it works great in rush hour stop and go traffic. The TACC is much smoother now and is a delight with or with out the steering assist. I am of the overall feeling that the steering is not ready for prime time yet. I applaud the effort and I know things will continue to improve with time and upgrades. However, for now, be really careful and don't trust it. I had the steering shut down on me no less than 5 times today alone and that doesn't include the multiple times I had to jump in to prevent a false turn or collision. I predict that within several weeks there will be a rash of reported accidents involving Teslas whose owners are using the steering system with insufficient care and monitoring. For now, I'm sticking with TACC and the lane change feature.
Oh yes, FIX the stupid speedometer location. It is now blocked by the steering wheel!