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bug? autopilot doesn't see other lane on divided highway unless CID reset

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current fw 17.36

Most of my commuting is on 2 lane divided highways/dual carriageways.

Autopilot rarely "sees" the other lane and therefore the lane change feature doesn't work for the majority of the time for me. With the typical traffic levels on the roads I use, this is really quite a pain as I constantly have to knock the car off autopilot change lane manually and re-engage ap, complete with repeated bingbongs all the time.
This has been the case for previous firmwares as well.

however, and I have seen this on a number of occasions now, if I reboot the CID, the other lane is recognised instantly and reliably and lane change performs as expected. Weird. Bug?

Not sure if anyone else has the same issue, but if you do then try resetting the CID with the long press of both scroll wheels which it seems you can safely do whilst driving and see if you get the same result.