Just had an EAP scare, was cruising on the freeway, when a freight truck was crossing in and out of its lane. I tried to take over to dodge the truck early, but i got the beeping of an early accident and then the car accelerate and swurved trying to dodge the truck. I'll upload the dashcam video after work, but it was scary since I was trying to steer the car away from the truck and felt like autosteer overtook my manual input