I agree with setting to assist. Should have done it earlier. Occasionally you will get a slight nudge when giving a truck or similar a wide berth when overtaking and are close or on the white line and even with one hand on the wheel this is easily overridden. Even nudge is not quite the right word, more like a slightly heavier force to keep it where you want it.
There is a slight tone and the lane marking highlights show blue when it is active.
Experiment on purpose to get a feel for it.
With the non-assist lane departure warning you have to purposefully turn that setting of for each drive, i.e. each time you are in park before you go to drive or you get the annoying loud warnings. You do not get these with assist mode on.