In response to the original question, I drive 56 miles on an interstate each day that I go into the office. I am always on Navigate On Autopilot on the interstate. In the last two weeks-ish my car has decided it wants to change lanes out of the passing lane while it's still passing tractor trailers. It gets to about even with the cab of the truck and then it puts on the turn signal, starts to change lanes, and realizes there is a truck right there and aborts. It did not used to do this. Hopefully this gets fixed soon in an update. I'm currently on 2021.4.18.