...It decides way late to get into an exit lane...
Agreed. I wish it would signal much earlier to prepare us that it will exit soon. Right now, since it signals very close to an exit, if it makes a mistake and skips the exit, driver needs to be really quick to override it and turn the steering wheel for the exit. Very little time for driver's reaction.
...Braking is very last minute at times instead of slowing to a stop....
Yes. You also need to be alert that it does not automatically brake for stationary vehicles sometimes so you have to be very alert to make sure it does brake for you.
I am not sure if it helps but you might want to set the Following Distance to a longer length at 7 (1 is shortest).
...Speed into sharper turns is too fast...
You'll have to learn which sharp turns works and which don't and be ready to apply the brake as needed.
...I could go on, but does anyone else feel the same?
Yes. I've used Autopilot since 2017 and I feel the same.
It's not a final product because it's beta so you just need to learn how you adapt to its competencies or incompetencies.
It's like I can complain a lot that I paid too much for an unfinished house (beta) but it's completely dark at night and something is wrong with it! Of course! It is not finished yet so the electrical hook up is not there yet, so I can adapt to it by bringing my own flashlights or I can just complain about it but complaining won't help until the electricians finish their job!
But overall, I am very pleased with Autopilot even when it didn't work on the city streets and although it worked on the freeway at that time but only at 35MPH maximum. It's a tool and I am glad it's there even when it's imperfect.