The point of autopilot is not to let you take your hands of the wheel.
When you drive, do you see the blue lines (single, or double) when AutoPilot is engaged?
When the car is swinging, as you say, are the painted lanes very wide, faded, or intermittent (car can get confused and the blue lines will be wobbly in those situations) or are they normal lines?
You say "now work at all", you're saying it won't keep you in the lanes and handle mild curves on highway?
When you drive, do you see the blue lines (single, or double) when AutoPilot is engaged?
When the car is swinging, as you say, are the painted lanes very wide, faded, or intermittent (car can get confused and the blue lines will be wobbly in those situations) or are they normal lines?
You say "now work at all", you're saying it won't keep you in the lanes and handle mild curves on highway?