Have you used AP in Mways recently? Phantom braking is pretty much gone, and there is zero lurching in lane of any kind.
I'm a rare user of AP, mainly because I'm also a rare user of motorways ... but at the end of last week I had the opportunity again. Things felt a little smoother in terms of matching speed to other vehicles (though still not "human smooth"). My biggest disappointment was in relation to passing HGVs ... no major scares but simply passing unnecessarily close. I thought I had read on here that the car should move a little to the right within your lane (when traffic allows) when passing large vehicles ... when driving I always shift a few inches to the right in my lane if there's nobody in the outside lane. AP makes me feel I am just skimming the sides of the trucks and glancing at the screen also shows no attempt being made by the car to reposition in its lane. If I used the feature enough I would probably trust it more but if I was being driven by another person in the same way I wouldn't be impressed!