Under 18 MPH, auto-steer uses the car in front of you as primary data (it's in blue vs. the lines being in blue). I was curious to see just how much it would really follow -- so in a situation without lanes and the car in front of me turning left, I let auto-steer do it's thing. It did perfectly (and of course started complaining around the speed when auto-steer needs lane information so it can lock onto lanes instead of the car in front).
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