I have test driven almost all the cars out that do lane keeping. I'm very familiar with the good and bad. I would never buy a car with the nag feature. Infiniti and Audi do not nag. Volvo doesn't nag but their lane keeping was terrible. I drove an Infiniti Q50 form Texas to California and the lane keeping made the trip much more enjoyable. The Q50 was great on straightaways but usually needed some help on the curves. According to the 7.0 Beta Discussion thread the autosteer part of autopilot forces the driver to periodically grab the steering wheel. This nag accomplishes nothing other than making car less safe to drive. It makes you take your eyes off the road to first read the nag notice and then find your way to the steering wheel to then apply just enough torque to turn off the nag. Apply too much torque and autosteer shuts off causing you to further be distracted from the road to turn on the autosteer again. It is much better to focus on the road and look for situations that you know autosteer might have a problem with and be ready to take over. My hands are always close by. Forcing me to periodically grab the steering wheel is akin to forcing me to apply the brakes periodically.