The most recent 8.1 firmware update was a big improvement for my 2016 P100D. Autosteer is more stable and the increase from 35 mph to 80 mph on major highways actually makes it useful. I took a 220 mile trip last weekend and used it most of the way. I used the automatic lane change feature several times and it worked perfectly with one exception. After a lane change at high speed, the car abruptly slowed down for no apparent reason. The car in back of me had to brake to avoid an accident. I had my hands on the steering wheel and took over driving quickly, but it was close.