On the freeways within cities, I find that Autosteer often drives too close to transport trucks. It appears to try to keep in the center of the lane, but sometimes the transport truck in the adjacent lane will drift close to the line or even over the line. A human driver in such a situation would move to the other edge of the lane to give the truck room, but Autosteer holds to the center of the lane. Sometimes it panics and screams at the driver to take control rather than simply doing a slight steering adjustment within the lane. Does anyone with the FSB beta notice if the beta does any better in such a situation?